Robotino 3へのFawkesのインストール

fawkes roboticsRobotino 3のページを参考に進めます.

  1. GCCの設定
  2. 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
  3. boost1.46からboost1.54へ変更
  4. 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
  5. ROSのインストール
  6. # 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
  7. ccacheの設定
  8. 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
  9. OpenRobotino daemonsの無効化
  10. 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
  11. Socket権限の修正
  12. sudo cat <<EOM >>/etc/init/rpcd.conf
    post-start script
      sleep 5
      chmod 666 /tmp/__REC__RPC__12080__
    end script
    
    EOM
  13. fawkes のダウンロード
  14. git clone git://git.fawkesrobotics.org/fawkes.git
  15. 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.
  16. cd fawkes
    git checkout -b robotino3 origin/timn/robotino3

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