View source for Mobotware on raspberry


== NB! ==

NB! This info may be depricated.

=== Packages needed ===

 sudo apt install cmake
 sudo apt install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev libgtk2.0-dev 
 sudo apt install libatlas-base-dev gfortran alsa-tools jackd1
 sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev subversion libreadline-dev htpdate aptitude
 # video for linux had some error, maybe this will help
 cd /usr/include/linux
 sudo ln -s -f ../libv4l1-videodev.h videodev.h
 # opencv
 # sudo apt install libopencv-dev (sorry, installs opencv 2.4 (jan 2020), with no ArUco code support)

==== Opencv ====

As of June 2019 opencv 3.2 is installed using line above - NO, it is back to 2.4 on noops 3.2.1 (jan 2020/jca)

Newer version of Opencv could be installed manually if you really need functions not available in 3.2.
For newer installation use

 # make a directory for the opencv source
 cd
 mkdir -p git
 cd git
 # get source
 wget -O opencv-3.4.zip https://github.com/Itseez/opencv/archive/3.4.zip
 unzip opencv-3.4.zip
 wget -O opencv_contrib-3.4.zip https://github.com/Itseez/opencv_contrib/archive/3.4.zip
 unzip opencv_contrib-3.4.zip
 # you will need this - if you use python - takes some minutes
 pip install numpy
 # prepare compilation
 cd ~/git/opencv-3.4/
 mkdir build
 cd build
 cmake -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_INSTALL_PREFIX=/usr/local \
    -D INSTALL_PYTHON_EXAMPLES=ON \
    -D OPENCV_EXTRA_MODULES_PATH=~/git/opencv_contrib-3.4/modules \
    -D BUILD_EXAMPLES=ON ..
 # inspect printout to see if needed features are enabled
 # use -j2 option not to overload or overheat the processor (j2 means use 2 cores only)
 # this probably takes an hour or so
 make -j2
 # install into /usr/local
 sudo make install
 # load environment settings
 sudo ldconfig



=== Packages needed for Mobotware RHD/MRC ===

Package list for RHD and MRC (paste the last line to a terminal window):

 libexpat-dev   (RHD)
 pciutils-dev   (RHD)
 libncurses-dev (RHD)
 bison          (MRC)
 libsdl-dev     (MRC)
 telnet         (MRC test)
 sshfs          (may be a good idea to access filesystem from another PC)
 sudo apt-get install subversion libexpat-dev pciutils-dev libncurses-dev bison libsdl-dev telnet sshfs

=== Additional for AURS (e.g. camera server) ===

Package list - opencv removed as newer version installed above (paste the last line to a terminal window)
 cmake
 # libopencv-dev
 libreadline-dev
 libudev-dev
 libusb-dev
 # libv4l-dev
 python-dev
 libgstreamer0.10-dev
 libboost-dev
 libboost-system-dev
 python-opencv          (not needed, but nice)
 sudo apt-get install cmake libreadline-dev libudev-dev libusb-dev libgstreamer0.10-dev libboost-dev libboost-system-dev python-opencv

==== Python ====

Further python image processing install

 sudo pip install Image

=== Mount filesystem ===

As an option, mount the home directory on raspberry-pi to your local PC for easy
file modification.

On your PC type make a directory for the filesystem

 mkdir rpi
 sshfs local@10.59.8.141: rpi
 ls rpi

with your IP address or IP replaced by ''hostname.local''.

Unmount with

 fusermount -u rpi

==Mobotware ==

Get and unpack mobotware - see main page of this wiki for info

Either from SVN - if you have access, or from our lab-computers as a mobotware-XXX.tar.gz file, where XXX is version number.

unpack if a .gz file and make a symbolic link to "mobotware" to make this guide work.

 tar -xzf mobotware-XXX.tar.gz
 ln -s mobotware-XXX mobotware

or, if from SVN:

 svn co svn://repos.gbar.dtu.dk/jcan/mobotware mobotware

this makes a mobotware directory with all the files.

=== Modify makefiles ===

Not all parts of Mobotware runs on a raspberry, so some parts must be removed from the 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

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
 simstage3

==== server Plug-ins etc.====

Some servers and plug-ins are excluded from raspberry pi (''qclient'', ''kinect'' and point-cloud related plug-ins)
in the respective Makefiles.

=== Build ===
Build mobotware:
 cd ~/mobotwareXXX
 make

This should now compile with warnings only

(''augraphplan.h not found'' may appear, 
but try one more ''make'', then it 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

There will be a few error messages related to the uncompileable modules: qclient, hakoclient, simserver and libstage, this is OK.

==== setup path ====

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

 sudo nano -w /etc/profile

append the PATH line with '':/usr/local/smr/bin'' two places, like:

 ...
 if [ "`id -u`" -eq 0 ]; then
   PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/smr/bin"
 else
   PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games:/usr/local/smr/bin"
 fi
 ...

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"

To make this work, you have to logout and login again.

=== 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).
Look in ''mobotware/build/config'' for specific versions for different robots.

 <?xml version="1.0" ?>
 <!--
    Configuration file for 
    Robot Hardware Daemon
 -->
 <!-- Starting RHD Configuration -->
 <rhd>
  <!-- *** Core Components Configuration *** -->
  <!-- Sheduler configuration -->
  <sheduler>
    <period value="12000"/><!--in usec-->
    <type value="LXRT"/><!--"usleep","itimer","LXRT" -->
  </sheduler>
  <!-- Server configuration -->
  <server>
    <port value="24902"/>
    <clients number="10" allwriters="1"/>
  </server>
  <!-- *** Plugins Configuration *** -->
  <plugins basepath="/usr/local/smr/lib/rhdplugin/">
    <!-- 
    Add your plugin here after this comment and
    leave joycontrol and log - they may be usefull.
    -->
    <joycontrol enable="true" 
                    lib="libjoycontrol.so.1" 
                    critical="false" 
                    safety="1">
      <joystick port="/dev/input/js0"/>
      <!-- speed:
          maxfwd is max speed reference value send to device
          maxturn is max turn-angle angle-vel send to device
          fastBut is button number on joypad (0..10)
          slowFactor used when fastBut is not pressed (0.1 .. 1.0) 1.0 is default -->
      <speed maxfwd="900" 
           maxturn="900"
           fastBut="5"
           slowFactor="0.3"/>
      <!-- deadband for joy-controll in joy-control units (+/- 32000) -->
      <deadband max="767" min="-767"/>
      <control enable="true"/>
    </joycontrol>
    <!-- rhdlog will open a file rhdlog.txt and write all symbol values here as fast as possible.
             it may not keep up writeing with the tick interval specified (can be changed online) 
             interval = 0 (default) for no log - can be set online from rhdtest or MRC.
             interval = N if N=1 every tick, N=2 every other, N=3..
             File is created in default directory.
             After each write operation the data is flushed to disk (using fflush()). 
             each line starts with a unix timestamp (gettimeofday) - set at tick call -->
    <rhdlog enable="true"
          lib="rhdlog.so.1"
          critical="false"
          interval="1"
          safety="2"
          debug="0">
    </rhdlog>
  </plugins>
 </rhd>

=== Test Mobotware ===

==== RHD ====

Hardware abstraction layer (Robot Hardware Daemon)

Start RHD

 rhd

It should end saying "RHD is running"

(Stops with ctrl-C)

==== MRC ====

Mobile Robot Control.

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.

Press ''q'' to quit

==== Camera server ====

Copy the camera server configuration for raspberry camera (otherwise a default ucamserver.ini will be created without the raspberry plugins).

 cp ~/mobotware/build/config/raspberry/ucamserver.ini .

Start the camera server - and optionally load the camera plug-in.

 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

If camera is available, then use
 
 poollist

to se if camera is running.

Pres ''q'' to quit

===Code change===

Every time you recompile any module, it is not implemented until you also run

 cd ~/mobotware
 sudo make install

To implement newly compiled modules right away, change a symbolic link:

 cd /usr/local
 sudo rm smr
 sudo ln -s ~/mobotware/build smr