(r10) BuildInstructionsToRunRobotFromSource < LCI

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---++ Build Instructions
The following instructions were verified to work on the laptop behemoth(this assumes a fresh installation of Ubuntu 8.04)-
   * 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.
   * 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
   * 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)
      * libcapture (by building the source located in trunk/ROBOT/resources)
   * 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.        
   * For 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).
      
---+++ External Dependencies
Here is a list of libraries(and their versions) need to be installed on the machine to run the code-
   * Boost
   * ...



---++ 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 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/
   * 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
Topic revision: r10 - 2009-07-08 - DavidMeger