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Installing Carmen LCAD on Ubuntu 12.04.3 (English)
sudo apt-get update
sudo apt-get install gimp meld subversion vim git
git clone https://github.com/LCAD-UFES/carmen_lcad.git
git clone https://github.com/LCAD-UFES/MAE.git
sudo apt-get install swig \ libgtk2.0-dev \ qt-sdk \ libqt3-mt libqt3-mt-dev qt3-dev-tools \ libimlib2 libimlib2-dev \ imagemagick libmagick++-dev \ libwrap0 libwrap0-dev tcpd \ libncurses5 libncurses5-dev \ libgsl0-dev libgsl0ldbl \ libdc1394-22 libdc1394-22-dev libdc1394-utils \ cmake \ libgtkglext1 libgtkglext1-dev \ libgtkglextmm-x11-1.2-0 libgtkglextmm-x11-1.2-dev \ libglade2-0 libglade2-dev \ freeglut3 freeglut3-dev \ libcurl3 libcurl3-nss libcurl4-nss-dev \ libglew1.5 libglew1.5-dev libglewmx1.5 libglewmx1.5-dev glew-utils1.5 \ libkml0 libkml-dev \ liburiparser1 liburiparser-dev \ git \ libusb-1.0-0 libusb-1.0-0-dev libusb-dev \ libxi-dev libxi6 \ libxmu-dev libxmu6 \ build-essential libforms-dev \ byacc \ flex \ doxygen \ libespeak-dev
In case of an error with libcheese-gtk23, install the packages below before the previous ones (Solution not confirmed):
sudo apt-get install libglew-dev libcheese7 libcheese-gtk23 libclutter-gst-2.0-0 libcogl15 libclutter-gtk-1.0-0 libclutter-1.0-0
Note: If you want to use the most updated version of Java for personal use, replace oracle-jdk7-installer with oracle-java8-installer.
sudo add-apt-repository ppa:webupd8team/java sudo apt-get update && sudo apt-get install oracle-jdk7-installer update-alternatives --display java
Edit the file /etc/environment:
sudo gedit /etc/environment
Add to the end of the file (if you installed java8, change the end from java-7-oracle to java-8-oracle):
JAVA_HOME=/usr/lib/jvm/java-7-oracle
Download Eclipse from: www.eclipse.org/downloads/
Unzip Eclipse
cd Downloads/ sudo mv eclipse-cpp-kepler-R-linux-gtk-x86_64.tar.gz /opt cd /opt/ sudo tar -xvf eclipse-cpp-kepler-R-linux-gtk-x86_64.tar.gz
Create a desktop file and edit it in /usr/share/applications:
sudo gedit /usr/share/applications/eclipse.desktop
Put the following content:
[Desktop Entry] Name=Eclipse Type=Application Exec=/opt/eclipse/eclipse Terminal=false Icon=/opt/eclipse/icon.xpm Comment=Integrated Development Environment NoDisplay=false Categories=Development;IDE Name[en]=Eclipse
sudo apt-get install libeigen3-dev libboost-all-dev libflann-dev libvtk5-dev cmake-gui
sudo apt-get install build-essential libgtk2.0-dev libjpeg-dev libtiff4-dev libjasper-dev \ libopenexr-dev cmake python-dev python-numpy python-tk libtbb-dev libeigen2-dev yasm libfaac-dev \ libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev \ libqt4-dev libqt4-opengl-dev sphinx-common texlive-latex-extra libv4l-dev libdc1394-22-dev \ libavcodec-dev libavformat-dev libswscale-dev
Download the files:
sudo su cd /usr/local/ wget http://bullet.googlecode.com/files/bullet-2.78-r2387.tgz ou wget https://storage.googleapis.com/google-code-archive-downloads/v2/code.google.com/bullet/bullet-2.78-r2387.tgz wget http://downloads.sourceforge.net/project/opencvlibrary/opencv-unix/2.4.9/opencv-2.4.9.zip wget http://downloads.sourceforge.net/project/fann/fann/2.2.0/FANN-2.2.0-Source.tar.gz wget http://www.kvaser.com/software/7330130980754/V5_3_0/linuxcan.tar.gz tar -xvf bullet-2.78-r2387.tgz unzip opencv-2.4.9.zip tar -xvf linuxcan.tar.gz tar -xvf FANN-2.2.0-Source.tar.gz mv bullet-2.78 bullet cd bullet ./configure make make install cd .. cd linuxcan make make install cd .. cd FANN-2.2.0-Source mkdir build cd build cmake .. make make install cd ../.. cd opencv-2.4.9 mkdir build cd build cmake -D WITH_TBB=ON -D WITH_CUDA=OFF -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=ON -D WITH_QT=ON -D WITH_OPENGL=ON .. make make install
Edit the file /etc/ld.so.conf.d/opencv.conf:
gedit /etc/ld.so.conf.d/opencv.conf
Add to the end of it:
/usr/local/lib
Run:
ldconfig
Edit the file /etc/bash.bashrc:
gedit /etc/bash.bashrc
Add to the end of the file:
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig export PKG_CONFIG_PATH
Exit root:
exit
Add to the .bashrc file:
#CARMEN export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib:/usr/lib/x86_64-linux-gnu:/usr/lib/i386-linux-gnu/:/usr/lib/libkml export CARMEN_HOME=~/carmen_lcad #MAE export MAEHOME=~/MAE export PATH=$PATH:$MAEHOME/bin
cd $CARMEN_HOME/ubuntu_packages/ sudo dpkg -i imlib_1.9.15-20_amd64.deb sudo dpkg -i imlib-devel_1.9.15-20_amd64.deb tar -xvf flycapture2-2.5.3.4-amd64-pkg.tgz cd flycapture2-2.5.3.4-amd64/ sudo apt-get install libglademm-2.4-1c2a sudo apt-get install libglademm-2.4-dev sudo apt-get install libgtkmm-2.4-dev sudo sh install_flycapture.sh
Create symbolic link:
sudo ln -s /usr/lib64/libgdk_imlib.so.1.9.15 /usr/lib64/libgdk_imlib.a sudo ln -s /usr/src/linux-headers-3.8.0-30/ /usr/src/linux
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl sudo apt-get update sudo apt-get install libpcl-all
sudo su cd /usr/local wget http://sourceforge.net/projects/libusb/files/libusb-1.0/libusb-1.0.19/libusb-1.0.19.tar.bz2 tar xvf libusb-1.0.19.tar.bz2 cd libusb-1.0.19 ./configure make make install
If there is an error with the installation above, try installing udev-dev first
sudo apt-get install libudev-dev mkdir /usr/local/tplib cd /usr/local/tplib git clone git://github.com/OpenKinect/libfreenect.git cd libfreenect mkdir build cd build cmake .. cp src/libfreenect.pc /usr/local/tplib/ make cp ../src/libfreenect.pc.in src/libfreenect.pc cp ../fakenect/fakenect.sh.in fakenect/fakenect.sh make install ldconfig /usr/local/lib64/ exit
Run:
glview
In case of an error, try:
freenect-glview
If there is an error,run:
sudo ldconfig /usr/local/lib64/
sudo apt-get install cmake libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-qt4-dev cd /usr/local/ sudo svn co https://svn.openslam.org/data/svn/g2o cd /usr/local/g2o/trunk/build/ sudo cmake ../ -DBUILD_CSPARSE=ON -DG2O_BUILD_DEPRECATED_TYPES=ON -DG2O_BUILD_LINKED_APPS=ON sudo make sudo make install
apt-get install make g++ freeglut3-dev byacc libforms-dev libtiff4-dev libXi-dev libXmu-dev doxygen tcsh flex libdc1394-22-dev
Compile the MAE: Prerequisite: The environment variables MAEHOME and PATH must be set correctly.
Navigate to the MAE directory: “cd $MAEHOME”.
Compile the MAE: “make”.
Check if the MAE library libnet_conn.a has been generated in MAEHOME/lib.
Check if the MAE compiler netcomp has been generated in MAEHOME/bin.
More information about MAE:
http://www.lcad.inf.ufes.br/wiki/index.php/M%C3%A1quina_Associadora_de_Eventos_-_MAE#Compilando_a_MAE
cd /usr/local
sudo su
git clone https://github.com/davisking/dlib.git
cd dlib/
mkdir build
cd build/
cmake .. {Vai reclamar de coisas CUDA. Mas pode compilar sem suporte a CUDA}
make
make install
Close all terminals and do:
cd $CARMEN_HOME/src ./configure --nojava --nocuda --nozlib Should the C++ tools be installed for CARMEN: [Y/n] Y Should Python Bindings be installed: [y/N] y Searching for Python2.4... Should the old laser server be used instead of the new one: [y/N] N Install path [/usr/local/]: Robot numbers [*]: 1,2
Before compiling CARMEN, we need the tracker module to be compiled separately for the navigator_spline to work:
cd $CARMEN_HOME/src/tracker make
There will be a compilation error, but everything is okay.
To compile CARMEN, run:
cd $CARMEN_HOME/src make
If an error occurs due to libusb.h, go to the file:
sudo vim /usr/local/include/libfreenect.hpp
And change #include <libusb.h> to
#include <libusb-1.0/libusb.h>
To configure OpenJAUS, follow the tutorial at:
$CARMEN_HOME/sharedlib/OpenJAUS/README_ALBERTO.txt
To configure the GPS and XSENS automatically when connected to the USB ports, copy the following file from the Carmen data directory to your machine:
cd $CARMEN_HOME/data sudo cp 99-usb-serial.rules /etc/udev/rules.d/
To connect the new GPS Trimble, it’s necessary to have an Internet connection within the IARA. We opted to use an iPhone with a 3G connection.
For the iPhone to work on Ubuntu 12.04, several steps are required… We lost the history, but you can find the steps on the Internet (Google “iPhone 4S ubuntu 12.04 mount”). You need to install some packages (apt-get install …). If you succeed, you’ll be able to use the iPhone as a Personal Hotspot, meaning you can use the Internet from within the IARA.
Once that’s done, you need to create a Gateway from the machine that has Internet access (car01) to a subnet of the IARA (192.168.0.0 - the Car Network subnet). To do this (see reference page at help.ubuntu.com/community/Internet/ConnectionSharing (Gateway set up)), assuming the iPhone is on eth2 and the IARA subnet is on eth1:
sudo iptables -A FORWARD -o eth2 -i eth1 -s 192.168.0.0/24 -m conntrack --ctstate NEW -j ACCEPT sudo iptables -A FORWARD -m conntrack --ctstate ESTABLISHED,RELATED -j ACCEPT sudo iptables -t nat -F POSTROUTING sudo iptables -t nat -A POSTROUTING -o eth2 -j MASQUERADE sudo iptables-save | sudo tee /etc/iptables.sav
The commands above create a NAT from the iPhone to the IARA subnet. Next, you need to edit /etc/rc.local and add the following line before “exit 0”:
iptables-restore < /etc/iptables.sav
Additionally, you need to run:
sudo sh -c "echo 1 > /proc/sys/net/ipv4/ip_forward"
To make this change permanent, include the following lines in /etc/sysctl.conf:
net.ipv4.ip_forward=1 net.ipv4.conf.default.forwarding=1 net.ipv4.conf.all.forwarding=1
In the Network Manager, you need to set “Use this connection only for resources on its network” (Network Manager->IPv4 Settings->Routes) for all wired networks except for the iPhone’s.
That’s it!