Version and download

Latest versions

On Nyquist/SMRs: is the version marked as default below.

Available for switchtool

• 2011a svn version 1488 (as of 19 may 2011) - available as tag in svn
• 2011b as of 11 august 2011, svn version 1666,
• 2011c SVN version 1744
• 2011d late 2011 SVN version 1780
• 2012d SVN version 1822
• 2012e default SVN version 1827
• 2012f next (trunk) SVN version 1902
• 2012g next version (compiled for slackware) SVN version 1972
• 2012h next version (compiled on xubuntu 12.04), SVN version 1960

On SVN: is version 2.1972 (as of 9 August 2012).

Newer versions should be fetched from one of our servers (jensen, nyquist or bode) from /usr/local/smr/mobotware-2.xxxx.tar.gz, where 'xxxx' is the SVN version number. Other versions can be found in /opt/smr.yyyyz, where 'yyyyz' is the switchtool number from the list above, i.e.: switchtool 2012f switches to the version in /opt/smr.2012f.

The software is no longer directly available on the web. Older versions of AU Robot Servers (AURS) can be found here: http://server.elektro.dtu.dk/ftp/jca/mobotware/.

Releases notes

Release 2.1972

For AURS servers, unified command line help files, fixed load-order dependency when copying global variables from one server to another. Implemented destination option when copying variables between servers (see AURS server help). Fixed 'feature' in RHD when using security (priority) option for plugins (with joycontrol), so that update flag for write variables can be used (when joycontrol is in charge).

Release 2.1960

Makefile changes to adapt to default (x)ubuntu version 12.04, opencv and PCL. Inter-server communication improvements (diagnose and recover). Fix in MRC for array write variables. More RHD plugins.

Release 2.1912

Mostly Makefile changes to adapt to default ubuntu/kubuntu version 12.04 - especially the changed file structure of openCV (version 2.3.1), where the header files from version 2.1 no longer is maintained.

Release 2.1902

New point-cloud functions added to kinect plug-in. New method call added to aulobst plug-in to get ransac line segments from laserscan. New tree-finder plug-in added. Net auview plug-in to auclient, to display features in 3D - requires point-cloud library i.e. not on jensen/nyquist. Some other, mostly maintenance, changes.

Release 2.1868

Added a new plugin (aupipi) for ping-pong game with universal robot. Added some parts of boost and other header-only libraries in aurobotservers/trunk/libs for especially aulocalizer, but available for future plugins too.

Release 2.1822

Fixed some errors. Added new plugin (aupcltest) with some testcode using point cloud library. Added plugin (auv4l2) with some (thin) support for video for linux 2 camera - not complete). Added compile options to include PCL (export USE_PCL=1.4) and ROS version of opencv (export OPENCV=2.3.1). Mapbase plugin (mapbase) has now some possibility to search in nested graphs.

Release 2.1797

Fixed an error for LMS100 laser scanner introduced when removing warnings. This version is implemented in the 2012a version.

Release 2.1784

Added CRC to guidemark detection and fixed a number of errors and many "set-but-not-used" warnings (but not all). Moved this version to the new default 2012a version.

Release 2.1704

Removed debug message from png save and fixed replay of image.log file (camset replay). Removed a major memory leak in savePNG (577kB/image), and a few other minor valgrind-issues.

Older release notes

A few comments for older releases in Release notes

Update KALMAN from SVN

To update the version used by SMRs (and jensen/nyquist the day after) (I) do the following:

• ssh jensen.iau.dtu.dk (work on jensen)
• cd svn (skift til dit svn directory for mobotware)
• svn update (get latest version - note the SVN version number)
• export mobotware part using a script (it asks for the SVN version number):

$ ./exportMobotware
exporting mobotware - aumat, mrc, rhd, aurs etc.
Enter SVN version number xxx for mobotware-2.xxx.tar.gz: 1829
Export complete.
Export complete.
...

• The full mobotware will be exported and compiled into a new directory: mobotware-2.1829

Transfer to KALMAN

• go to that directory

$ cd mobotware-2.1829

• there is here a makefile that can transfer it to kalman, with a variable VER for the destination

$ make kalman VER=2012f

• it will ask for a password twice! (if you do not use shared keys)
• NB! the directory /opt/smr.2011f needs to be established in advance, e.g.

Establish a new version directory on kalman

• go to kalman
• copy the newest version (here smr.2012f) to the new directory (here smr.2012g) using rsync, and let other VIPs edit the version e.g.:

$ ssh kalman
$ cd /opt
$ rsync -rl smr.2012f/* smr.2012g
$ chmod -R g+w smr.2012g 

Make new version the default one

$ ssh kalman
$ cd /opt
$ mv smr smr-not-used-anymore
$ ln -s smr.2012g smr