HAKO
software installation on HAKO
The navigation computer is primarily running RHD and MRC
Running linux slackware version 12.0 (as of 5 May 2009)
RHD
17 April 2009
Compiled RHD.
Moved to new compiled version (svn 485 from rhd/branches/rhd2.0/build/*)
Moved to /root/hako/rhd484 (including bin, lib and include directories)
cd ~/svn/rhd/branches/rhd2.0/build tar -czf mrc484.tar.gz bin include lib scp mrc484.tar.gz root@hako:hako/
on HAKO, make new directoy to new version and move tar file to this
mkdir rhd484 mv rhd484.tar.gz rhd484 cd rhd484 tar -xzf rhd484.tar.gz cd .. ln -sf rhd484 rhd cd rhd/bin ln -s rhdconfig/rhdconfig.hako.xml rhdconfig.xml
Disable crossbow in rhdconfig.xml (not sufficient stable for real work in this environment)
MRC
17 April 2009
snapshot of MRC (from /vhome/naa/robot2005/src/) to my svn directory on jensen
Changed path of librhd.a in Makefile in mrc subdirectory to:
LIBS= -lrobot -lm /vhome/jca/svn/rhd/branches/rhd2.0/build/lib/librhd.a \
/vhome/naa/linux/smr/libsmr/libsmr.a \
-lpthread -lncurses -lexpat -liau_mat
Reference to RHD rhd.h should have moved to
/vhome/jca/svn/rhd/branches/rhd2.0/include/rhd.h
but was not (should be OK), used the version in
/usr/local/smr/include
compiled MRC, and moved it to
scp mrc root@hako:hako/
MRC configuration
17 April 2009
the Hako calibration parameters are in
/root/hako/calib/robot.conf
HAKO old mission manager
Opstart:
Brug en browser Windows, med java enablet.
Forbind til:
http://192.168.1.10/hako/applet/index.php
Hvis det er første gang, så download 'settings' fil nederst i vinduet, og placer i eget bibliotek som beskrevet. Restart browser.
Vælg så "Hako Control" øverst på php-siden.
Så forbinder java-applet til hakoclient, som starter RHD og MRC på hako-navigationscomputer.
Når forbindelse er etableret og GPS er i fix-mode er status grøn, og klar til at loade en mission.
hako 2 - Perception computer
Perception computer Is running AU robot servers and works as remote control server
Running linux slackware version 12.0 (as of 5 May 2009)
