Transition to version 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  (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

ld.so.conf

In /etc/ld.so.conf additional lib directories are added:

/usr/realtime/lib
/usr/local/lib
/usr/local/smr/lib
/usr/local/smr/aurs/lib
/usr/X11R6/lib
/usr/i486-slackware-linux/lib

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.smrS1.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.