Install on (K)UBUNTU

This is intended as a guidance to install MOBOTWARE

The platform tested is KUBUNTU, UBUNTU and XUBUNTU.

Sofar only 32-bit LINUX distributions are tested successfully.

KUBUNTU version 10.4/10.10/11.04/11.10/12.04

Valid for ubuntu, kubuntu and xububtu

• From version 11.04 of UBUNTU, KUBUNTU or XUBUNTU there is no support for USB-webcam until a new vesion of campool plug-in is generated.)
• install the 32 bit version of - most works on 64-bit the version, but there are unsolved issues.
• Preferred version is (K)Ubuntu 12.04 32 bit for Mobotware version >=1912 - with only a few outstanding issues (e.g. RTEA).

After successfully installing KUBUNTU, UBUNTU or XUBUBTU, install the following packages

e.g. install a package from the command-prompt like:

sudo apt-get install cmake

Needed packages:

- subversion (if you have access to source on SVN)
- gcc
- g++
- cmake
- doxygen  (for documentation only)
- libopencv-dev (ubuntu from 12.4, for earlier versions of ubuntu: try load libhighgui-dev and libcv-dev instead)
- libraw1394-dev
- libdc1394-22-dev
- libpng-dev
- libexpat-dev
- ncurses-dev
- pciutils-dev
- libreadline-dev
- libsdl-dev
- bison (for MRC)
- libudev-dev
- icedtea6-plugin  (to run MARG)
- libusb-dev (MUST be version 1.0.3 or better - (used for Kinect only (see note))
- ffmpeg (to convert a recorded image sequence to a video - see camera server)
- libv4l-dev (pt. only for auv4l2 plug-in, that is not released yet)
- putty (useful serial terminal emulator)
- kdevelop or eclipse (integrated development environment - not strictly needed (and not with XUBUNTU))
- lsof (to track open files - also device files)
- libboost-dev (used by aulocalizer plug-in, but also included in libpcl)
- libpcl-all-dev  (see PCL-note)

(note) If your distribution (like UBUNTU 10.10) has libusb version 1.0.0, you must install libusb from the libusb-1.0 homepage http://www.libusb.org/wiki/libusb-1.0 - see below.

G++44

A bit of the Kinect code needs G++ compiler version 4.4 (or newer), this should be no problem on newer linux installations, but on our Jensen and Nyquist servers the default compiler is not version 4.4, so a nickname is generated g++44 to solve this issue, you should either change the g++44 to g++ in the Makefile (in the aukinect subdirectory) or make a link:

sudo ln -s /usr/bin/g++ /usr/bin/g++44

PCL

The Point Clouds Library (PCL) is in a separate ubuntu repository, so see the instructions on: http://pointclouds.org/downloads/linux.html

OpenNI

OpenNI is not used by mobotware (mobotware uses the freenect driver), but part of some of the examples in the PCL library uses the OpenNI driver.

Install openNI driver for Kinect requires additional packages:

• freeglut3-dev (3D graphics with openGL API)
• sun-java6-jdk (required to compile openNI - sudo add-apt-repository "deb http://archive.canonical.com/ lucid partner" and apt-get update

LIBUSB-1.0.x

See http://www.libusb.org/wiki/libusb-1.0, one way is to install from git-source.

If you installed libusb from

git clone git://git.libusb.org/libusb.git 

then default is verbose logging to console. One way to remove is to edit the configure script:

in the file configure find and remove these two lines (about line 770):
enable_log
enable_debug_log

Then run - as usual:

./configure
make
sudo make install

Freenect LIB

Latest version requires this packages:

• libxmu-dev
• libxi-dev

To compile from git source - not needed in mobotware

openCV (and ROS) issues

OpenCV in ubuntu 12.4 is version 2.3.1, and opencv-2.1 is not directly available in the for from openCV-1.0.

- ROS replaces default versions of OPENCV.

Installation of ros on ubuntu (kubuntu) see http://www.ros.org/wiki/electric/Installation/Ubuntu The first part about adding source repository and "sudo apt-get update" is fine for installing openCV version 2.3.1 (sudo apt-get install libopencv2.3-dev) too. The same is probably true for the linear algebra template library (sudo apt-get install libeigen3-dev).

ROS electric installes (pt) openCV version 2.3.1, and this includes a pkg-config file with errors, all link directives "-l" includes the full path, which is a syntax error, so

edit the "Libs:" part of /usr/lib/pkgconfig/opencv-2.3.1.pc

from:

# Package Information for pkg-config
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1
Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
Libs:  -l${exec_prefix}/lib/libopencv_contrib.so.2.3.1 -l${exec_prefix}/lib/libopencv_legacy.so.2.3.1 \
   -l${exec_prefix}/lib/libopencv_objdetect.so.2.3.1 -l${exec_prefix}/lib/libopencv_calib3d.so.2.3.1 \
   -l${exec_prefix}/lib/libopencv_features2d.so.2.3.1 -l${exec_prefix}/lib/libopencv_video.so.2.3.1 \
   -l${exec_prefix}/lib/libopencv_highgui.so.2.3.1 -l${exec_prefix}/lib/libopencv_ml.so.2.3.1 \
   -l${exec_prefix}/lib/libopencv_imgproc.so.2.3.1 -l${exec_prefix}/lib/libopencv_flann.so.2.3.1 \
   -l${exec_prefix}/lib/libopencv_core.so.2.3.1
Cflags: -I${includedir_old} -I${includedir_new}

to:

# Package Information for pkg-config
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir_old=${prefix}/include/opencv-2.3.1/opencv
includedir_new=${prefix}/include/opencv-2.3.1
Name: OpenCV
Description: Open Source Computer Vision Library
Version: 2.3.1
Libs:  -lopencv_contrib -lopencv_legacy -lopencv_objdetect -lopencv_calib3d \
       -lopencv_features2d -lopencv_video -lopencv_highgui -lopencv_ml \
       -lopencv_imgproc -lopencv_flann -lopencv_core
Cflags: -I${includedir_old} -I${includedir_new}

All relevant Makefiles should now be modified - since SVN version 1768. And updated to detect openCV version 2.1, 2.3.1, and the version installed with ubuntu 12.4.

Thanks to: http://mpt-internal.uni-hohenheim.de/doku.php?id=robotsoftware:mobotware:mobotware-ros

Source on jensen, nyquist or bode

In /usr/local/smr there should be a mobotware-2.XXXX.tar.gz with the current stable source from /opt/smr, or other versions from e.g. /opt/smr.2012g/mobotware-2.yyyy.tar.gz).

Prepare to compile

Some of the current camera drivers are not compatible with latest firewire drivers in ubuntu, so disable, as instructed in AU Robot Servers section installation without FIREWIRE

The OpenCV version 2.1 (default) and 2.3.1 is (pt) supported through an environment variable, so add one of the following cammands (e.g. to .bashrc):

export OPENCV=2.1
export OPENCV=2.3.1

goto the created mobotware directory and make the package

make

This should now compile the set of needed libraries and applications (some need a "make" in its own sub-directory - i.e. some examples and some seldom needed modules)

IDE

From an Integrated Development Environment (IDE) all parts of the project can be loaded, compiled and debugged using the provided Makefiles

KDEvelop and Eclipse can be recommended.

(for Eclipse see Remote Development of Mobotware Using Eclipse)

Maintain SVN source

New version is fetched from command prompt by:

cd ~/mobotware
svn update

When you have changed a file send it back to the svn-repository from the directory with the file, or one of the parent folders known to svn (svn will ask for a note for the change log):

svn commit

To add a new set of files, just make a new set of source files - preferably in a new directory (inside the mobotware file tree) - and add the new directory by (e.g. called foo):

svn add foo
A         foo
A         foo/Makefile
A         foo/bar.cpp
A         foo/bar.cpp~
A (bin)   foo/bar.o

This adds the directory and all the files in it, if too many files were added the surplus can be removed by e.g.:

svn rm --force foo/bar.cpp~ foo/bar.o

Then the additions must be committed to go to the repository (starts an editor for a commit remark)

svn commit

or to skip the step with the remark editor:

svn commit -m "in-line commit remark"

XUBUNTU

NB! on official boot-flash that uses switchtool, see Switchtool.

Experiments of running XUBUNTU on the robot (mercury) on a 4GB flash disk

startup files

Add a script to start rhd in the file /etc/rc.local

/etc/rc.local:

#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# start rhd
export LD_LIBRARY_PATH="/usr/local/lib"
export PATH="$PATH:/usr/local/bin"
rhd /usr/local/bin/rhdconfig/rhdconfig.mercury.xml 1>/home/chr/log/rhd.out 2>/home/chr/log/rhd.err &
#aukeeper -a -s /home/chr/live/aukeeper.ini >/home/chr/log/aukeeper.out &
#
exit 0

Test

(to be continued with test and example instructions)