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Revision as of 16:35, 27 January 2011
Contents |
Jensen/Nyquist/Kalman
To compile mobotware in jensen/nyquist the following changes need to be implemented:
Libraries
in /usr/lib or /usr/local/lib
* OpenCV version 2.1 * libdc1394 (dev version) * libusb-1.0 (dev version)
(more to come)
SMR flash
Flash disk with 2011 version is on smr0.
supports
* RHD trunk version * Slackware 13.1 and kernal 2.6.32.20-rtai-up * firewire control version 2.2 * opencv version 2.1 * kinect
rc.local
In /etc/rc.d/rc.local
RHD (trunk version) is pt in:
/usr/local/smr/bin/rhdT
and RHD configuration files for trunk version in
/usr/local/smr/bin/rhdconfigT/*
- The Ts should be removed when old configuration has gone.
Kinect requires read-write access to the usb bus devices, until this is in the udev rules, chmod is added.
To support MARG an aurs server is added (to start camera and laser server (if not running))
The needed files are copied from the Kalman version on boot - but should run in isolation too?.
#!/bin/sh # # /etc/rc.d/rc.local: Local system initialization script. # # Put any local setup commands in here: /etc/rc.d/rc.autofs start sleep 1 if [ -d /usr/local/smr.net/bin ]; then echo Network IAU rm /usr/local/smr ln -sf /usr/local/smr.net /usr/local/smr /etc/rc.d/rc.ntpd stop ntpdate kalman /etc/rc.d/rc.ntpd start else echo ***** Network off ***** rm /usr/local/smr ln -sf /usr/local/smr.local /usr/local/smr fi # /usr/local/smr/bin/rhdT /usr/local/smr/bin/rhdconfigT/rhdconfig.smrS0.xml& # MARG support (using keeper to start servers) chmod 777 /dev/bus/usb/* chmod 666 /dev/bus/usb/*/* cd /root/keeper export LD_LIBRARY_PATH="/usr/local/smr/aurs/lib:/usr/local/smr/lib" /usr/local/smr/aurs/aukeeper -a >/dev/null & # get newest version of marg (if connection to kalman) cp /usr/local/smr/marg/marg2.jar /srv/httpd/htdocs/dist/ cp /usr/local/smr/marg/robot.xml /srv/httpd/htdocs/robot.xml # replaces title and hostname in robot.xml file for MARG SMRHN=`hostname` sed -i "s/smrhost/$SMRHN.iau.dtu.dk/g" /srv/httpd/htdocs/robot.xml ## #Start bluetooth service if [ -d /proc/bluetooth ]; then echo Bluetooth start dund --listen --channel 1 call dun /sbin/hcid /usr/sbin/sdpd fi #/etc/rc.d/rc.yp restart insmod /usr/realtime/modules/rtai_hal.ko insmod /usr/realtime/modules/rtai_lxrt.ko insmod /usr/realtime/modules/rtai_fifos.ko insmod /usr/realtime/modules/rtai_sem.ko insmod /usr/realtime/modules/rtai_mbx.ko insmod /usr/realtime/modules/rtai_msg.ko insmod /usr/realtime/modules/rtai_netrpc.ko ThisNode="127.0.0.1" # Set standard sound level amixer set Master 80% unmute amixer set PCM 80% unmute sleep 1
MARG
Marg is installed in /srv/httpd/httdocs/
Keeper
Is installed in /root/keeper - with configuration-files and bash scripts only. i.e. requires access to AURS binaries and lib-files in the default path.