Hokuyo
It is expected that you have the most up to date version of the SynapticMarkings file, that can be obtained from lars.mec.ua.pt/home/public/tutorials/CarmenLAR, before installing the hokuyo driver.
Hokuyo Laser Range Finder
STEP1- Install the hokuyo driver
Go to sftp://user.mec.ua.pt/home/public/Utils/Linux. Download the file urg-0.7.0_lar_2.tar.gz
Uncompress the file into DIR folder then
- cd DIR
-
./configure CC=g++
this flag is required, otherwise hokuyo_utm module will not compile - make
-
sudo make install
attention:to uninstall the urg lib execute the followings steps inside DIR
- sudo make uninstall
- sudo make distclean
STEP2 - compile the hokuyo_utm module inside lar
Xsens
It is expected that you have the most up to date version of the SynapticMarkings file, that can be obtained from lars.mec.ua.pt/home/public/tutorials/CarmenLAR, before installing the hokuyo driver.
Xsens Inertial Measurement Unit
STEP1- Install the Xsens driver
Go to sftp://user.mec.ua.pt/home/public/Utils/Linux. Download the file xsens.tar.gz
Uncompress the file into DIR folder then
- cd DIR
- make
-
sudo make install
attention:to uninstall the urg lib execute the followings steps inside DIR
- sudo make uninstall
xb3
It is expected that you have the most up to date version of the SynapticMarkings file, that can be obtained from lars.mec.ua.pt/home/public/tutorials/CarmenLAR, before installing the xb3 driver.
Cross Compiling LAR Toolkit xbcamera module in 32bit/64bit architectures
The LAR Tollkit xb3 module is designed to acquire images from a Point Grey Research xb3 bumblebee stereo camera http://www.ptgrey.com/products/bbxb3. The module uses the triclops Point Grey proprietary library. At sftp://user.mec.ua.pt/home/public/tutorials/Triclops one can get the library plus the manual for this toolkit.
This will explain how to install the xb3 module both in X86_64 and a X86 architectures. Because the triclops library's source code is not supplied by the manufacturer, the xb3 module must be compiled in 32bit.
The operating systems used were the Linux Ubuntu 9.04 64bit. Running with in a virtual machine from Vbox, the Ubuntu 9.04 32bit was installed.
The following steps show how to perform this instalation:
STEP1 - Install the Ubuntu 9.04 32bit on a Virtual Box OSE machine. You should also install the Vbox Additions. If you have problems installing the xserver, perhaps this helps http://www.ubuntugeek.com/ubuntu-904jaunty-and-virtualbox-video-driver-for-xguest-additions.html
STEP2 - Install carmen, ipc and lar on the 32bit platform.
STEP3 - Install the triclops libs in the 32bit. Download the Triclops package given in sftp://user.mec.ua.pt/home/public/tutorials/Triclops to a directory DIR. Then:
# sudo mkdir /usr/local/lib/triclops
# cd DIR/Triclops/triclops/lib
# ls
Here you should see both libs, libpnmutils.a and libtriclops.a
# sudo cp DIR/Triclops/triclops/lib/*.a /usr/local/lib/triclops
cd /usr/local/lib/triclops
sudo ldconfig
Now we must copy the header files.
# sudo mkdir /usr/local/include/triclops
# sudo cp DIR/Triclops/triclops/include/*.h /usr/local/include/triclops
And this finishes the triclops instalation in the 32bit OS.
STEP4 - Installing libdc2.0 on the 32bit platform.
Go to sftp://user.mec.ua.pt/home/public/Drivers/Linux. Download the libdc1394-2.0.2.zip. Uncompress, and install.
# ./configure
# make
# make install
The VBox causes an exit from the make install stating that you shoud first install libraw. Do not worry about this.
STEP5 - Compiling the xb3 module in 32bit
Now you should probably be able to compile the xb3 module in the 32bit, assuming that all other modules (the camera modules) compiled without problems. This ensures that libraw and libdc are propperly installed.
The xb3 module has a hybrid makefile. It reads from the lar Makefile.vars the system architecture and produces the aproppriate binaries.
# cd lar/src/sensors/camera/xb3
make
If all goes well you should have the following binaries xb3_subscribeexample_32bit xb3_subscribe3dpointcloudexample_32bit and xb3_publish_32bit
The xb3_publish_32bit is compiled exclusively on the 32bit architecture, since that it links to the triclops library.
The others are the usual subscribe test modules, and are also compiled when you type make on the 64bit architecture.
STEP6 - Installing the shared 32bit libs on the 64 bit architecture
The xb3_publish_32bit binary that was compiled on the 32bit architecture is linked at runtime to some shared libs. These are the ones from opencv and also libjasper (the latest i have no idea why). Anyway, these libs must be present in the 64bit OS, so that the binary can run. You should already have a folder called /usr/lib32 on your system. If not type
# sudo mkdir /usr/lib32
Download the xb3_sharedlibs_32bit.tar.gz from sftp://user.mec.ua.pt/home/public/Drivers/Linux
Uncompress and run
# sudo sh install.sh
This will install the required shared libs into the /usr/lib32 directory
STEP7 - Running the xb3_publish_32bit on the 64 bit OS.
If all went well, you should probably be able to run the xb3_publish_32bit on the 64 bit OS. Copy the _32bit binaries to the /lar/srs/sensors/camera/xb3 directory of the 64bit ubuntu, Connect the bumblebee, run the xb3_publish_32bit and voila!
Instalation of CommView
STEP1 - Download Commview 1.2.0
Download from www.cs.cmu.edu/~ipc/ or get it from lars.mec.ua.pt/home/public/drivers/linux.
STEP2 -
Extract rar contents to the ipc folder. mv COMMVIEWFOLDER IPCDIRECTORY cd COMMVIEWFOLDER
Install from Synaptics tcl8.4, tcl8.4-dev, tcl-dev, tclx8.4, tk and tk-dev. cd COMMVIEWFOLDER/bin ln -s Linux Linux-2.6
