Install on raspberry

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Short note on installation of (parts of) mobotware on Raspberry Pi

Contents

Prerequisite

First install 2012-10-28-wheezy-raspbian on the raspberry Pi flashdisk and expand the flash-disk to at least 4GB - see the instructions on e.g.: http://elinux.org/RaspberryPiBoardBeginners

Assuming this is up and running - with internet access

Configure

Using raspi-config 

Expand Filesystem
Enable Camera
Set hostname
Enable SSH
Enable i2c - load module as default
Disable Serial login

reboot

Login

login as pi, password raspberry

add a user called local 

sudo adduser local
sudo usermod -a --groups adm,cdrom,sudo,audio,video,plugdev,games,users,netdev,input,spi,gpio local

switch user to local, and ensure groups are OK, and network is running 

su - local
groups
ifconfig

Note the inet address.

Now it is possible to login (as local) from network.

Do NOT login as root for running mobotware (not needed and could mess up configuration).

Packages needed for Mobotware RHD/MRC

The following packages needs to be installed - e.g. using apt-get like: 

sudo apt-get install subversion

Package list for RHD and MRC: 

subversion  (to fetch mobotware from SVN)
libexpat-dev   (RHD)
pciutils-dev   (RHD)
libncurses-dev (RHD)
bison          (MRC)
libsdl-dev     (MRC)
telnet         (MRC test)
sudo apt-get install subversion libexpat-dev pciutils-dev libncurses-dev bison libsdl-dev telnet

Additional for AURS (e.g. camera server)

Package list 

cmake
libopencv-dev
libreadline-dev
libudev-dev
libusb-dev
libv4l-dev
python-dev
libgstreamer0.10-dev
libboost-dev
libboost-system-dev
sudo apt-get install cmake libopencv-dev libreadline-dev libudev-dev libusb-dev libv4l-dev python-dev libgstreamer0.10-dev libboost-dev libboost-system-dev

Get Mobotware

Get and unpack mobotware - see main page of this wiki for info

Either from SVN - if you have access, or from our lab-computers as a mobotware-XXX.tar.gz file, where XXX is version number.

unpack if a .gz file 

tar -xzf mobotware-XXX.tar.gz

this makes a mobotware directory with all the files.

Modify makefiles

Not all parts of Mobotware runs on a raspberry, so some parts must be removed from the Makefiles:

Enter the mobotware directory 

cd mobotware-XXX

main Makefile 

nano -w Makefile

Change this section 

APPSUBDIRS = aumat/trunk \
   aurobotservers/trunk/include \
   aurobotservers/trunk/libs \
   mapbase/trunk \
   rhd/trunk \
   mrc/trunk \
   hakoclient/trunk  \
   aurs-plugins/aumanager aurs-plugins/aumrcobst aurs-plugins/auplanner/trunk \
   aurs-plugins/auzoneobst \
   aurobotservers/trunk \
   simulator/trunk

delete the lines 

hakoclient/trunk  (GUI for HAKO tractor)
simulator/trunk   (simulator will not run on raspberry)

so that it looks like 

APPSUBDIRS = aumat/trunk \
   aurobotservers/trunk/include \
   aurobotservers/trunk/libs \
   mapbase/trunk \
   rhd/trunk \
   mrc/trunk \
   aurs-plugins/aumanager aurs-plugins/aumrcobst aurs-plugins/auplanner/trunk \
   aurs-plugins/auzoneobst \
   aurobotservers/trunk

Remember to remove the last back-slash

RHD plugins Makefile 

cd rhd/trunk/plugins
nano -w Makefile

In this section 

PLUGINLIST := auserial gps crossbow fogyro hakocan smrdserial rflex \
             rs232linesensor powercube esm slugs usbiss sf9dof \
             joycontrol gdm8246 buspiratei2c buspiratead \
             herkulex saberandmagenc imu gps2\
             smrarm rhdlog hexakopter gbprofibus roboteq gpsSocket \
             fieldsteer fielddrive fieldfrontenc \
             dynamixel cruizcore simstage3

Remove 

gbprofibus
simstage3

Camera server libraries Makefile

goto AURS library 

cd mobotwareXXX/trunk/libs/
nano -w Makefile

in this section 

BASELIBS = ../include ../lib \
 ugen4 urob4 umap4 ucam4 \
 liblineext dglib freenect \
 aulibextractfeatures utils \
 ../src/ulmsserver

remove 

freenect  (kinect library)

AURS application Makefile

Goto the src directory 

cd mobotwareXXX/trunk/src/
nano -w Makefile

Change line 

apps = auclient  auservertest  ucamserver  uclient  ulmsserver  userver qclient
to
apps = auclient  auservertest  ucamserver  uclient  ulmsserver  userver

AURS plugin Makefile

Goto plugin directory 

cd mobotwareXXX/trunk/plugin/
nano -w Makefile

in the section 

plugins := auavoid auavoidk auball auballkl   audrivepos  augps    \
   aukeep     aulaserifscan       aupar    aurhdif  \
   austereo  auvarmrc  ucamif \
   aucamcog  aucron    auefline    augraphplan \
   aukinect   aulobst   aumapobst aupoly      auroaddrive \
   ausmr      locater   ulmspassable \
   aucamfocus audisp    aufile    auimu     \
   aulaserif  aulocalize2 \
   auobj3d    aupplfinder         aurule    \
   ausockbin  autof     mapbase   ulmsv360    aucamrectify aupipi \
   aulaserbox aufzclass auviewer aupcp aupcltest auv4lgst \
   aucroprow  autof2    auptgrey \
   aulocalize

remove 

aukinect (5th line)
auviewer aupcp aupcltest (11th line)
auptgray (12th line)

Build

Build mobotware: 

cd ~/mobotwareXXX
make

This should now compile with warnings only

(augraphplan.h not found may complain, but try one more make, then it usually works @todo - find out why)

install

The easyest way to use Mobotware is then to install into /usr/local/smr.

This is done by 

sudo make install

setup path

Add the mobotware bin-directory into default PATH in /etc/profile 

sudo nano -w /etc/profile

append the 2 PATH lines with :/usr/local/smr/bin, like: 

PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/smr/bin"

And add mobotware AURS library path into .bashrc 

nano -w ~/.bashrc

append a line like this 

export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/usr/local/smr/lib"

Make a Mobotware test configuration

Logout and login to ensure that the PATH settings gets implemented

Make a directory to run from 

mkdir ~/live
cd ~/live

Copy a robot configuration file 

cp -r /usr/local/etc/mobotware/calib .

make a rhdconfig.xml file with this content (loads a joystick and log plugin only): 

<?xml version="1.0" ?>
<rhd>
 <sheduler>
   <period value="12000"/>
   <type value="LXRT"/>
 </sheduler>
 <server>
   <port value="24902"/>
   <clients number="10" allwriters="1"/>
 </server>
 <plugins basepath="/usr/local/smr/lib/rhdplugin/">
   <joycontrol enable="true" 
                   lib="libjoycontrol.so.1" 
                   critical="false" 
                   safety="1">
     <joystick port="/dev/input/js0"/>
     <speed maxfwd="900" 
          maxturn="900"
          fastBut="5"
          slowFactor="0.3"/>
     <deadband max="767" min="-767"/>
     <control enable="true"/>
   </joycontrol>
   <rhdlog enable="true"
         lib="rhdlog.so.1"
         critical="false"
         interval="1"
         safety="2"
         debug="0">
   </rhdlog>
 </plugins>
</rhd>

Test Mobotware

RHD

Start RHD 

rhd

It should end saying "RHD is running"

(Stops with ctrl-C)

MRC

While the RHD is running (in another terminal)

start the MRC 

cd ~/live
mrc

This should show a list of options

-press 5 to quit

Laser scanner server

Start laser scanner server 

ulmsserver

There will be some errors as there is no laserscanner ...

Press enter a few times to get a prompt ">>"

Type 

help

this should show a list of loaded plugins, like 

...
Available commands (from currently loaded modules):
- push q server help shelp module do BASH alive quit exit
- scanGet scanPush scanSet
- odoPose odoPosePush
- mapPose mapPosePush
- utmPose utmPosePush
- var varPush
- poly
- mapbase
- settable addline setinitpose setinitcov localizeMHF localize resetlocalizer outputdist odoposeupdate resample localizeUKF
...

Try e.g. 

scanget fake=3

this should show a lot of HEX numbers and a few more errors.

Camera server

Start the camera server 

ucamserver

This should end with something like this 

Camera_server 2.1966 (May  1 2015 13:42:21 jca@oersted.dtu.dk)
- on port 24920
- type h for help, q for quit

Pres q to quit

MRC test

Start the MRC (while the RHD is running) using socket interface: 

./mrc -t1

In another terminal window use telnet to connect to the MRC 

telnet localhost 31001

MRC commands like 

eval $time

Should now be avilable

If all this is OK, then the raspberry Pi is running, and you only need to connect it to your robot througt an appropriate set of rhd plug-ins and make a MRC script to make it run.

Performance

The RHD and MRC running in idle with an update rate of 100 HZ is consuming about 3-4% CPU load each.

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