Build Instructions

The following instructions were verified to work on the laptop mammoth(Running on Ubuntu 9.04), which is the primary laptop for running the robot code currently.

• Checkout code from SVN: svn co svn+ssh://user@computer/lci/project/raid1/srvc/SVN/trunk
• Compile by running make in:
  • ROBOT/main

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++
• 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 MATLAB

• 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 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

-- DavidMeger - 18 Jun 2008