Install on raspberry
Short note on installation of (parts of) mobotware on Raspberry Pi
Prerequisite
First install 2012-10-28-wheezy-raspbian on the raspberry Pi flashdisk and expand the flash-disk to at least 4GB - see the instructions on http://elinux.org/RaspberryPiBoardBeginners
Assuming this is up and running - with internet access
Packages needed
The following packeges needs to be installed - e.g. using apt-get like:
sudo apt-get install subversion
Package list:
subversion (to fetch mobotware from SVN) libexpat-dev (RHD) pciutils-dev (RHD) libncurses-dev (RHD) bison (MRC) libsdl-dev (MRC) telnet (MRC test)
Get and unpack mobotware - you need the following directories only:
mobotware/aumat mobotware/mrc mobotware/rhd/trunk mobotware/build
The rest of the directories can be deleted, so can rhd/branches
Build
Build the needed parts of mobotware, e.g.:
cd ~/mobotware/aumat/trunk make cd ../../rhd/trunk make cd ../../mrc/trunk make
In this order
Then collect the configuration and binary files in a test directory
Test
make a test directory and fill it with the needed configuration and binary files, e.g.
mkdir live cd live cp -r ~/mobotware/build/config/gogo/* . ln -s ~/mobotware/rhd/trunc/build/bin/rhd . ln -s ~/mobotware/rhd/trunk/build/bin/rhdtest . ln -s ~/mobotware/mrc/trunk/mrc/mrc . echo "" >calib/wdssparam.dat
You now need to modify the rhdconfig.xml file: Change the path to plugins, using e.g. nano
nano -w rhdconfig.xml
Change the line (assuming you use the default pi user)
from: <plugins basepath="/usr/local/smr/lib/rhdplugin/"> to: <plugins basepath="/home/pi/mobotware/rhd/trunk/build/lib/rhdplugin/">
In the rhdconfig.xml there is already a number og plugins, this list need to be updated to your configuration.
To test if the RHD is running you may just change the attribute critical="true" to critical="false", the RHD will then continue even if the plugin fails to initialize. If some plugin is not found - e.g. maestro12ch.so.1 (it is not compiled by default) - then delete it from the rhdconfig.xml file, or change enable="true" to enable="false" for this plugin.
The file calib/robot.conf needs update too. You may use the configuration files in mobotware/build/config for inspiration
Now start the RHD (in the live directory):
./rhd
It should end by saying "RHD is running", else check the rhdconfig.xml as above.
OPen a new terminal tab and run rhdtest to see if it is alive:
./rhdtest
And type
connect
You should now see a list of variables, where at least the Tick is updating.
Stop the rhdtest with ctrl-c
MRC test
Start the MRC (while the RHD is running) using socket interface:
./mrc -t1
In another terminal window use telnet to connect to the MRC
telnet localhost 31001
MRC commands like
eval $time
Should now be avilable
If all this is OK, then the raspberry Pi is running, and you only need to connect it to your robot througt an appropriate set of rhd plug-ins and make a MRC script to make it run.
Performance
The RHD and MRC running in idle with an update rate of 100 HZ is consuming about 3-4% CPU load each.