BuildInstructionsToRunRobotFromSource < LCI

---++ Build Instructions
The following instructions were verified to work on the laptop behemoth(this assumes a fresh installation of Ubuntu 8.04)-
---+++ Basic Setup & Libraries
   * Update Ubuntu(if there is a problem connecting to network because of wireless card issues try connecting using LAN chord).
   * Checkout code from SVN: svn co svn+ssh://user@computer/lci/project/raid1/srvc/SVN/trunk
      * You can also install kdesvn and checkout using the GUI interface.
   * Install emacs
   * Modify paths in trunk/srvcDirectories.bash and add it to your ~/.bashrc file.
      * add this line at the end- source yourSrvcPath/trunk/srvcDirectories.bash
   * Install g++, automake, libtool, gawk, libcurl, pyhon-scipy, pylab (nothing named that), python-numpy, libboost-filesystem-dev, imagemagick, build-essential, python-yaml, cmake, subversion
   * Install wxPython 
      * Add the following sources of third-party software using System> Administration> Software Sources
         * deb http://apt.wxwidgets.org/ hardy-wx main
         * deb-src http://apt.wxwidgets.org/ hardy-wx main
      * Install wxpython
         * $sudo apt-get update
         * $sudo apt-get install python-wxgtk2.8 python-wxtools wx2.8-i18n
   * Install OpenCV using following packages-
      * libcv-dev(and all it's dependencies)
   * Install GLUT
      * freeglut3-dev(and all it's dependencies)
   * Install GSL
      * libgsl0-dev
   * Install Player
      * libplayerc++2-dev(and all it's dependencies)
   * Install libgtk related libraries:
      * libgtkglext-dev
      * libgtkmm-dev
   * Install libreadline5-dev
   * Install libraries related to grabbing from the Cannon camera:
      * libusb-dev (using apt-get)
      * libptp (by building the source located in trunk/ROBOT/resources) (read INSTALL for instructions, may need to use sudo when running "make install")
      * libcapture (by building the source located in trunk/ROBOT/resources)

---+++ Other Dependencies
   * Install MATLAB
      * Copy from Lapinkulta to your /usr/local- $sudo scp -r user@lapinkulta.cs.ubc.ca:/var/tmp/dpmeger/matlab .
      * Run install_matlab script inside the folder. (use defaults and always say yes when prompted)  
   * Install Boost 1.39(or the latest version from the Boost website)- The default version installed by Ubuntu package manager is not up to date. We need to install another version in usr/local which does not require to uninstall the default one. 
      * Install libbz2-dev 
      * Download source from http://www.boost.org/users/download/
      * Unzip the tar ball, open a terminal and cd to downloaded boost directory
      * run- $./bootstrap
      * run- $./bjam
      * If everything goes well Boost has compiled properly and you are ready to run- $sudo ./bjam install (this by default installs in /usr/local)
      * Create a symbolic link to the boost directory- 
         * $ cd /usr/local/include
         * $ sudo ln -s boost-1_39/boost boost 
      * Install GIL extensions
         * Download numeric.zip(from http://opensource.adobe.com/wiki/download/attachments/3866769/numeric.zip) and unzip in folder usr/local/include/boost/gil/extension
         * Create toolbox directory in usr/local/include/boost/gil/extension/
         * Copy hsv.hpp (Download from http://gil-contributions.googlecode.com/svn/trunk/gil_2/boost/gil/extension/toolbox/) to usr/local/include/boost/gil/extension/toolbox/hsv.hpp
---+++ ROS Installation
   * If you haven't already done so:
      * $sudo apt-get install build-essential python-yaml cmake subversion
   * Use the rosconfig tool to install ROS:
      * $ wget http://ros.sf.net/rosconfig -O ~/rosconfig
      * $ chmod 755 ~/rosconfig
      * $ ~/rosconfig bootstrap -s http://ros.sf.net/config/stable.rosconfig ~/ros move_base_stage
   * For convenience, automatically add ROS environment variables to your bash session every time a new shell is launched:
      * $ ~/rosconfig setup ~/ros > ~/.bashrc.ros
      * $ echo "source ~/.bashrc.ros" >> ~/.bashrc
   * Follow the basic tutorial [[http://pr.willowgarage.com/wiki/ROS/Quickstart/roscpp][here]] to test your installation. 

---+++ Test Running bumblebee
   * Modify /etc/modules file add raw1394 and video1394 to the end of the list.
   * Modify /etc/udev/rules.d/40-permissions.rules files as described [[http://nexthing.wordpress.com/2007/10/31/dlink-dfw-500-firewire-controller-on-ubuntu-710-kino/][here]].
   * Add yourself to groups disk and video using newgrp command
      * $newgrp disk
      * $newgrp video
   * Restart 
   * Connect bumblebee to the computer.
   * Install coriander and run it. If you can see the camera output by clicking on _Receive_ and _Display_ buttons in _Services_ tab then Bumblebee is working fine with your computer(if you see a black screen you may have to switch _method_ to Video1394 on the same tab).


---++ The following instructions apply after a fresh svn checkout (see page one level up) or an update through svn
Note that currently the directory MAPPING (same level as ROBOT and CLASSIFY) is not used
---+++ Building CLASSIFY Code
   * Open a terminal cd to CLASSIFY/sjm
   * run $ make
   * There might be an error in header file pngconf.h(a quick fix is to comment out the 2 problem lines where error occurs)

---+++ Building Robot Code
   * Open a terminal and cd to ROBOT/main
   * run $ make

---++ Background Training(for Category Recognition)
   * Save all background training images in a single directory 
   * In directory ~/srvc/trunk/CLASSIFY/sjm/app/Pipeline, run- $./ExtractDescriptors -R _training_image_folder_path_ --output-directory _dir_to_store_sift_descriptors_ 
   




---++ Running Robot
---+++ Running Training/Recognition Code
   * Run the web extraction code by typing python getImages.py in the WEB/getImages directory
   * ...

---+++ Running Navigation and Mapping Code
---++++ Starting Up
   * Power on (disconnect charger, press robot power, press computer power)
   * Switch on PTU power, connect Ethernet and USB
   * Run sudo ifconfig eth0 192.168.10.11
   * ssh to bart (192.168.10.10) with some username and password (ask Dave or Ankur for a valid one if you don't have it)
   * Run player powerbot.cfg
   * In another session, again ssh to bart with dpmeger@bart pwd superm@n
   * Run /home/lciuser/trunk/ROBOT/main/matlab_powerbot/server_mini
   * cd to /home/lciuser/trunk/ROBOT/main/realtime and run the command "bumblebeeGrab 0"
   * Start Matlab in /home/lciuser/trunk/ROBOT/main/
   * Power up the cannon camera
   * Play with lots of configuration parameters stored in ConfigDefaults and some other files
   * Execute the script RunRobot.m

Note: in case of freeze, run the command "bash util/killmatlab.bash"
---++++ Shutting Down
   * ptu power switch off
   * As root run "shutdown -h now" on bart
   * Robot power off
   * Connect charger


-- Main.DavidMeger - 18 Jun 2008
This topic: LCI > WebHome > TheSemanticRobotVisionChallenge > BuildInstructionsToRunRobotFromSource
Topic revision: r25 - 2009-08-31 - TumshHofmann