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| Line 22: |
Line 22: |
| | * opencv version 2.1 | | * opencv version 2.1 |
| | * kinect | | * 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=== |
Revision as of 21:00, 11 February 2011
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
* libdc1394-2 (dev version - version >= 2.1) (for guppy)
* libusb-1.0 (dev version - version >= 1.0.3) - (freenect compile)
* java (sun) plugin to firefox (missing on nyquist and is not working on jensen 11/2-2011 / jca)
NB! MOBOTWARE compiles on Nyquist, but not on jensen (11/2-2011 / jca)
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
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.
