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

Configure

Using raspi-config enable

Expand Filesystem
Enable Camera
Set hostname
Enable SSH
Enable i2c - load module as default
Disable Serial login

reboot

Login

login as pi, password raspberry

add a user called local

sudo adduser local
sudo usermod -a --groups adm,cdrom,sudo,audio,video,plugdev,games,users,netdev,input,spi,gpio local 

switch user to local, and ensure groups are OK, and network is running

su - local
groups
ifconfig

Note the inet address.

Now it is possible to login from network.

Do NOT login as root

Packages needed for Mobotware RHD/MRC

The following packages 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)
sudo apt-get install subversion libexpat-dev pciutils-dev libncurses-dev bison libsdl-dev telnet

Additional for AURS (e.g. camera server)

Package list

cmake
libopencv-dev
libreadline-dev
libudev-dev
libusb-dev
libv4l-dev
python-dev
libgstreamer0.10-dev
libboost-dev
libboost-system-dev
sudo apt-get install cmake libopencv-dev libreadline-dev libudev-dev libusb-dev libv4l-dev python-dev libgstreamer0.10-dev libboost-dev libboost-system-dev

Get Mobotware

Get and unpack mobotware - you need the following directories only for RHD and MRC:

mobotware/aumat
mobotware/mrc
mobotware/rhd
mobotware/build

The rest of the directories can be deleted, so can rhd/branches

Modify makefiles

Enter the mobotware directory

cd mobotware-XXX

main Makefile

nano -w Makefile

Change this section

APPSUBDIRS = aumat/trunk \
   aurobotservers/trunk/include \
   aurobotservers/trunk/libs \
   mapbase/trunk \
   rhd/trunk \
   mrc/trunk \
   hakoclient/trunk  \
   aurs-plugins/aumanager aurs-plugins/aumrcobst aurs-plugins/auplanner/trunk \
   aurs-plugins/auzoneobst \
   aurobotservers/trunk \
   simulator/trunk

to delete the lines

hakoclient/trunk  (GUI for HAKO tractor)
simulator/trunk   (simulator will not run on raspberry)

so that it looks like

APPSUBDIRS = aumat/trunk \

   aurobotservers/trunk/include \
   aurobotservers/trunk/libs \
   mapbase/trunk \
   rhd/trunk \
   mrc/trunk \
   aurs-plugins/aumanager aurs-plugins/aumrcobst aurs-plugins/auplanner/trunk \
   aurs-plugins/auzoneobst \
   aurobotservers/trunk

Remember to remove the last back-slash

RHD plugins Makefile

cd rhd/trunk/plugins
nano -w Makefile

In this section

PLUGINLIST := auserial gps crossbow fogyro hakocan smrdserial rflex \
             rs232linesensor powercube esm slugs usbiss sf9dof \
             joycontrol gdm8246 buspiratei2c buspiratead \
             herkulex saberandmagenc imu gps2\
             smrarm rhdlog hexakopter gbprofibus roboteq gpsSocket \
             fieldsteer fielddrive fieldfrontenc \
             dynamixel cruizcore simstage3

Remove

gbprofibus
cruizcore simstage3

Camera server libraries Makefile

goto AURS library

cd mobotwareXXX/trunk/libs/
nano -w Makefile

in this section BASELIBS = ../include ../lib \

 ugen4 urob4 umap4 ucam4 \
 liblineext dglib freenect \
 aulibextractfeatures utils \
 ../src/ulmsserver

remove

freenect  (kinect library)

AURS application Makefile

Goto the src directory

cd mobotwareXXX/trunk/src/
nano -w Makefile

Change line

apps = auclient  auservertest  ucamserver  uclient  ulmsserver  userver qclient
to
apps = auclient  auservertest  ucamserver  uclient  ulmsserver  userver

AURS plugins Makefile

Goto plugin directory

cd mobotwareXXX/trunk/plugin/
nano -w Makefile

in the section

plugins := auavoid auavoidk auball auballkl audrivepos augps \

   aukeep     aulaserifscan       aupar    aurhdif  \
   austereo  auvarmrc  ucamif \
   aucamcog  aucron    auefline    augraphplan \
   aukinect   aulobst   aumapobst aupoly      auroaddrive \
   ausmr      locater   ulmspassable \
   aucamfocus audisp    aufile    auimu     \
   aulaserif  aulocalize2 \
   auobj3d    aupplfinder         aurule    \
   ausockbin  autof     mapbase   ulmsv360    aucamrectify aupipi \
   aulaserbox aufzclass auviewer aupcp aupcltest auv4lgst \
   aucroprow  autof2    auptgrey \
   aulocalize

remove

aukinect (5th line)
auviewer aupcp aupcltest (11th line)
auptgray (12th line)

Build

Build the needed parts of mobotware, e.g.:

cd ~/mobotwareXXX
make

This should now compile with warnings only

(augraphplan.h not found may complain, but try a make more, then t usually works @todo - find out why)

install

The easyest way to use Mobotware is then to install into /usr/local/smr.

This is done by

sudo make install

setup path

Add the mobotware bin-directory into default PATH in /etc/profile

sudo nano -w /etc/profile

append the 2 PATH lines with :/usr/local/smr/bin, like:

PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/smr/bin"

And add mobotware AURS library path into .bashrc

nano -w ~/.bashrc

append a line like this

export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/usr/local/smr/lib"

Make a Mobotware test configuration

Logout and login to ensure that the PATH settings gets implemented

Make a directory to run from

mkdir ~/live
cd ~/live

Copy a robot configuration file

cp -r /usr/local/etc/mobotware/calib .

make a rhdconfig.xml file with this content (loads a joystick and log plugin only):

<?xml version="1.0" ?>
<rhd>
 <sheduler>
   <period value="12000"/>
   <type value="LXRT"/>
 </sheduler>
 <server>
   <port value="24902"/>
   <clients number="10" allwriters="1"/>
 </server>
 <plugins basepath="/usr/local/smr/lib/rhdplugin/">
   <joycontrol enable="true" 
                   lib="libjoycontrol.so.1" 
                   critical="false" 
                   safety="1">
     <joystick port="/dev/input/js0"/>
     <speed maxfwd="900" 
          maxturn="900"
          fastBut="5"
          slowFactor="0.3"/>
     <deadband max="767" min="-767"/>
     <control enable="true"/>
   </joycontrol>
   <rhdlog enable="true"
         lib="rhdlog.so.1"
         critical="false"
         interval="1"
         safety="2"
         debug="0">
   </rhdlog>
 </plugins>
</rhd>

Test Mobotware

RHD

Start RHD

rhd

It should end saying "RHD is running"

(Stops with ctrl-C)

MRC

While the RHD is running (in another terminal)

start the MRC

cd ~/live
mrc

This should show a list of options

-press 5 to quit

Laser scanner server

Start laser scanner server

ulmsserver

There will be some errors as there is no laserscanner ...

Press enter a few times to get a prompt ">>"

Type

help

this should show a list of loaded plugins, like

...
Available commands (from currently loaded modules):
- push q server help shelp module do BASH alive quit exit
- scanGet scanPush scanSet
- odoPose odoPosePush
- mapPose mapPosePush
- utmPose utmPosePush
- var varPush
- poly
- mapbase
- settable addline setinitpose setinitcov localizeMHF localize resetlocalizer outputdist odoposeupdate resample localizeUKF
...

Try e.g.

scanget fake=3

this should show a lot of HEX numbers and a few more errors.

Camera server

Start the camera server

ucamserver

This should end with something like this

Camera_server 2.1966 (May  1 2015 13:42:21 jca@oersted.dtu.dk)
- on port 24920
- type h for help, q for quit

Pres q to quit

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/ROBOT_TYPE/* .
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.