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Installation

1- Download the khepera light toolchain: http://ftp.k-team.com/KheperaIV/software/light_tools/khepera4-yocto-light-kb1.0.tar.bz2 Note: This version of the toolchain is deprecated. Contact us for more information.

2- Install it:

sudo tar -xjf khepera4-yocto-light-kbX.Y.tar.bz2 -C /usr/local

3- Get this repo:

git clone https://github.com/MISTLab/BuzzKH4.git

4- Get and cross-compile Buzz:

git clone https://github.com/MISTLab/Buzz.git

cd Buzz && cp ../BuzzKH4/src/cmake/TargetKheperaIV.cmake src/cmake/

mkdir build && cd build/

cmake -DCMAKE_TOOLCHAIN_FILE=../src/cmake/TargetKheperaIV.cmake -DCMAKE_MAKE_PROGRAM=make -DCMAKE_DISABLE_FIND_PACKAGE_ARGoS=TRUE ../src/

make

sudo make install

5- Cross-compile this repo (assuming it is downloaded from previous steps):

cd BuzzKH4 && mkdir build && cd build/

cmake -DCMAKE_TOOLCHAIN_FILE=../src/cmake/TargetKheperaIV.cmake -DCMAKE_MAKE_PROGRAM=make ../src/

make

sudo make install

6- Upload it to your khepera:

scp bzzkh4 K01:/home/root/