Install on raspberry

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Short note on installation of (parts of) mobotware on Raspberry Pi (or Beagle-bone)

For Beagle-bone skip to "Login" with adduser or installation o, the rest should work, as they are both almost the same processor and operating system. Note this guide is not pt. tested on beagle-bone.

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

I2C clock stretching

NB! pt. (may 2015) the i2c interface driver do not support clock stretching for data, this will often be seen as the MSB is missing (at times), dependent on the speed of the slave device.

One option is to reduce bus-speed to e.g. 50kHz, or to use a faster slave, that do not need clock-stretching.

Hopefully the I2C driver will be cured soon, as the hardware should support the stretching.

Configure

Using raspi-config 

Expand Filesystem (if not OK already)
Enable Camera
Set hostname
Enable SSH
Enable i2c - load module as default
Disable Serial login
Update firmware

Update operating system

Ensure you have internet access, then 

sudo apt-get update
sudo apt-get dist-upgrade
sudo 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,i2c 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.

Get access using hostname

To get access to the raspberry using hostname mey be convinient if the allocated IP changes.

Install the avahi-daemon 

sudo apt-get install avahi-daemon
sudo service avahi-daemon restart

Now from another PC on the local network 

ping hostname.local

where "hostname" is replaced with the hostname you assigned.


Get filesystem on normal PC

From another (Linux) PC, mount the raspberry filesystem 

mkdir pi  (where the filesystem will be mounted)
sshfs local@10.59.8.141: pi    (replace IP number with inet address from above, or use sshfs local@hostnale.local: pi)

Then in directory pi the user files on the raspberry can be manipulated.

for other access, use (with IP address as found above, or IP replaced with 'hostname.local') 

ssh -X local@10.59.8.141

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)
sshfs          (may be a good idea to access filesystem from another PC)
sudo apt-get install subversion libexpat-dev pciutils-dev libncurses-dev bison libsdl-dev telnet sshfs

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

Camera driver source

To use the raspberry camera (and compile the aupicam plugin) the userland sourcecode (from https://github.com/raspberrypi/userland): 

git clone https://github.com/raspberrypi/userland.git userland-master

This needs to compile and install (NB! I had some PATH issues, and they were probably solved by editing CMakeLists.txt) 

cd userland-master
mkdir build
cd build
cmake ..
make
sudo make install

This will copy the needed header and library files to /opt/vc and other places.

Mount filesystem

As an option, mount the home directory on raspberry-pi to your local PC for easy file modification.

On your PC type make a directory for the filesystem 

mkdir rpi
sshfs local@10.59.8.141: rpi
ls rpi

with your IP address

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/aurobotservers/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/aurobotservers/trunk/src/
nano -w Makefile

Change line 

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

Plug-ins

Some plug-ins are excluded from raspberry pi (kinect and point-cloud related plug-ins) in the Makefiles in the plugin directory.

Build

Build mobotware: 

cd ~/mobotwareXXX
make

This should now compile with warnings only

(augraphplan.h not found may appear, 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). Look in mobotware/build/config for specific versions for different robots. 

<?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

Hardware abstraction layer (Robot Hardware Daemon)

Start RHD 

rhd

It should end saying "RHD is running"

(Stops with ctrl-C)

MRC

Mobile Robot Control.

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.

Press q to quit

Camera server

Start the camera server - and optionally load the camera plug-in. 

ucamserver
>> module load=aupicam.so.0

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

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