Robotino 3へのFawkesのインストール

fawkes roboticsのRobotino 3のページを参考に進めます．

1. GCCの設定

sudo apt-get install software-properties-common python-software-properties
sudo -E add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install gcc-4.8 g++-4.8

sudo update-alternatives --remove gcc /usr/bin/gcc-4.6
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.8 60 --slave /usr/bin/g++ g++ /usr/bin/g++-4.8
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.6 40 --slave /usr/bin/g++ g++ /usr/bin/g++-4.6

2. boost1.46からboost1.54へ変更

sudo -E add-apt-repository ppa:boost-latest/ppa
sudo apt-get update
sudo apt-get remove 'libboost.*'
sudo apt-get install libboost1.54-dev

3. ROSのインストール

# Add ROS package repository, required e.g. for bullet
sudo sh -c 'echo "deb http://files.fawkesrobotics.org/packages/robotino3/ubuntu precise main" > /etc/apt/sources.list.d/fawkes-robotino3.list'
wget http://files.fawkesrobotics.org/packages/robotino3/ubuntu/fawkes-robotino3.key -O - | sudo apt-key add -

# Repository which has a new version of libmicrohttpd
sudo -E add-apt-repository -y ppa:openvas/stable

# Recent CLIPS/clipsmm versions
sudo -E add-apt-repository -y ppa:timn/clips

sudo apt-get update
sudo apt-get upgrade

sudo apt-get install build-essential git-core g++ vim asciidoc doxygen \
  libmagic-dev libssl-dev libavahi-client-dev libsqlite3-dev libxml++2.6-2 libxml++2.6-dev \
  libdaemon-dev libmicrohttpd10-dev  liblua5.1-0-dev libtolua++5.1-dev yaml-cpp \
  libdc1394-22-dev libbluetooth-dev libbullet-dev libelf-dev \
  libjpeg-dev libtiff4-dev libjpeg8-dev libjpeg-turbo8-dev libpng12-dev libpcl-1.7-all-dev \
  libopencv-dev libopencv-objdetect-dev libopencv-highgui-dev libopencv-calib3d-dev \
  libopencv-features2d-dev libopencv-legacy-dev libopencv-contrib-dev \
  librrd-dev graphviz libgraphviz-dev flite1-dev libasound2-dev \
  libxmlrpc-c3-dev libgl1-mesa-dev freeglut3-dev libsdl1.2-dev liburg0-dev \
  libgtkmm-3.0-dev libcairomm-1.0-dev libgconfmm-2.6-dev \
  libclipsmm-dev libprotobuf-dev libprotoc-dev protobuf-compiler \
  mongodb-dev mongodb-server

# Fix a bug in the PCL 1.7 pkg-config files
for f in people segmentation visualization; do \
  sudo sed -i -e 's/pcl_geometry-1.7 //' /usr/lib/pkgconfig/pcl_$f-1.7.pc; \
done

# Install ROS stuff
sudo apt-get install ros-fuerte-actionlib ros-fuerte-pcl ros-fuerte-geometry \
  ros-fuerte-image-common ros-fuerte-image-transport-plugins \
  ros-fuerte-navigation

echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc
source /opt/ros/fuerte/setup.bash

4. ccacheの設定

sudo apt-get install -y ccache
echo 'export PATH="/usr/lib/ccache:$PATH"' | tee -a ~/.bashrc \ && source ~/.bashrc && echo $PATH
which g++ gcc

• 以下の出力が出たらOkです．

/usr/lib/ccache:/opt/ros/fuerte/bin:/usr/lib/ccache:/opt/ros/fuerte/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games
/usr/lib/ccache/g++
/usr/lib/ccache/gcc

• 以下の設定をしましょう．

ccache -F 0 && ccache -M 2

5. OpenRobotino daemonsの無効化

sudo update-rc.d -f joystick.sh remove
sudo update-rc.d lighttpd disable
sudo su -c "echo manual > /etc/init/fleetcomd.override"

for f in 99-camd2.rules 99-ftdid.rules 99-joystick.rules; do
  sudo sed -e 's/^\(.\)/#\1/' -i /etc/udev/rules.d/$f
done

6. Socket権限の修正

sudo cat <<EOM >>/etc/init/rpcd.conf
post-start script
  sleep 5
  chmod 666 /tmp/__REC__RPC__12080__
end script

EOM

7. fawkes のダウンロード

git clone git://git.fawkesrobotics.org/fawkes.git

8. 以下は，ブランチが見つからないので実行できませんでした．

cd fawkes
git checkout -b robotino3 origin/timn/robotino3