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Installation configuration and requirements

  • Assumes Debian/Ubuntu APT style installation commands
  • Tested on Ubuntu LTS 20.04 (amd64) - VirtualBox machine
  • Minimal installation assumed when installing
  • User name “safemuv” - if other user name used, will have to replace /home/safemuv with the target user name

Install the dependencies for the compilers/build tools, MOOS and ActiveMQ/APR (Apache Portable Runtime)

These are used in the dependencies:

sudo apt-get install  git gcc make cmake subversion
sudo apt-get install  libfltk1.3-dev  freeglut3-dev  libpng-dev  libjpeg-dev
sudo apt-get install  libxft-dev  libxinerama-dev   libtiff5-dev
sudo apt-get install  libapr1-dev libssl-dev bbe

If your distribution doesn’t have libpng-dev package it may be numerical, e.g. libpng12-dev

Clone the ATLAS/SAFEMUV platform:

mkdir -p academic/atlas
cd academic/atlas
git clone https://github.com/jrharbin-york/atlas-middleware.git
git checkout --track origin/fuzzing
git pull

Clone the MOOS repository:

cd ~
mkdir source && cd source
svn co https://oceanai.mit.edu/svn/moos-ivp-aro/releases/moos-ivp-19.8.1 moos-ivp

Download and expand ActiveMQ and the ActiveMQ-CPP interface:

  • This is tested with versions 5.15.2 of ActiveMQ and 3.9.5 of ActiveMQ-CPP.
  • Other versions might well work, particularly later ActiveMQ versions
cd ~/source
wget https://archive.apache.org/dist/activemq/5.15.2/apache-activemq-5.15.2-bin.tar.gz
wget https://apache.mirrors.nublue.co.uk/activemq/activemq-cpp/3.9.5/activemq-cpp-library-3.9.5-src.tar.gz
# If these links are not present, please download these files manually and place in ~/source:
tar -xvzf apache-activemq-5.15.2-bin.tar.gz 
tar -xvzf activemq-cpp-library-3.9.5-src.tar.gz

Apply patches and build MOOS

cd ~/source/moos-ivp
patch -p0 < ~/academic/atlas/atlas-middleware/custom-moos/patches/behaviour_allow_nonconvex_waypoints.patch
./build-moos.sh
./build-ivp.sh

If the patch file is not found, please ensure you have run “git pull” on the ~/academic/atlas/atlas-middleware repository.

Setup auto-activemq script - assumes safemuv as user name

This is mostly for convenience to start ActiveMQ on command - you may wish to use other methods to launch it

echo '#!/bin/bash' >> ~/start_activemq.sh
echo '/home/safemuv/source/apache-activemq-5.15.12/bin/activemq start' >> ~/start_activemq.sh

Install ActiveMQ-CPP to /usr/local:

cd ~/source/activemq-cpp-library-3.9.5
./configure
make
sudo make install

If ActiveMQ-CPP fails to link with “undefined symbol” errors relating to SSL, ensure the libssl-dev package is properly installed first. If it was not installed, it will be necessary to delete ActiveMQ-CPP rerun the previous stage, configuring/make/install.

Copy the APR headers to parent dir:

For some reason, APR headers are often installed on Debian/Ubuntu in a custom directory, where they are not found. To prevent “apr_pools.h: No such file or directory” later, the following will be helpful

cd /usr/include/apr-1.0
sudo cp *.h ..

Build the custom MOOS interfacing component (ATLASDBInterface):

cd /home/safemuv/academic/atlas/atlas-middleware/custom-moos
./build-ivp.sh
cp bin/ATLASDBInterface ~/source/moos-ivp/bin

If there is an error resulting from: “No rule to make target ‘/usr/local/lib64/libactivemq-cpp.so’…” when building the custom MOOS components, it may be due to the distro you’re using having installed ActiveMQ at usr/local/lib In this case, enter the following:

cd /usr/local/
sudo mkdir -p lib64
cd lib64
sudo ln -s /usr/local/lib/libactivemq-cpp.so /usr/local/lib64

Then retry building the custom MOOS interfacing component

Set up the path settings for MOOS apps

echo 'export MOOS=/home/safemuv/source/moos-ivp' >> ~/.bashrc
echo 'export PATH=$MOOS/bin:$PATH' >> ~/.bashrc

Ensure console-logs directory exists

mkdir -p /home/safemuv/academic/atlas/atlas-middleware/middleware-java/moos-sim/console-logs

Export PATHS for MOOS

Add the following to .bashrc in your home directory to set the MOOS paths

export MOOS=/home/safemuv/source/moos-ivp
export PATH=$MOOS/bin:$PATH
export PATH=$MOOS/ivp/bin:$PATH