Robotino 3へのFawkesのインストール(修正版)
fawkes roboticsのRobotino 3のページを参考に進めます.
- GCCの設定
- boost1.46からboost1.54へ変更
- ROSのインストール
- ccacheの設定
- 以下の出力が出たらOkです.
- 以下の設定をしましょう.
- OpenRobotino daemonsの無効化
- Socket権限の修正
- fawkes のダウンロード
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
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 libboost1.54-doc libboost-atomic1.54-dev \ libboost-chrono1.54-dev libboost-context1.54-dev \ libboost-coroutine1.54-dev libboost-date-time1.54-dev \ libboost-exception1.54-dev libboost-filesystem1.54-dev \ libboost-graph1.54-dev libboost-graph-parallel1.54-dev \ libboost-iostreams1.54-dev libboost-locale1.54-dev \ libboost-log1.54-dev libboost-math1.54-dev libboost-mpi1.54-dev \ libboost-mpi-python1.54-dev libboost-program-options1.54-dev \ libboost-python1.54-dev libboost-random1.54-dev \ libboost-regex1.54-dev libboost-serialization1.54-dev \ libboost-signals1.54-dev libboost-system1.54-dev \ libboost-test1.54-dev libboost-thread1.54-dev \ libboost-timer1.54-dev libboost-wave1.54-dev default-jdk fop \ libboost1.54-all-dev libtinyxml-dev \ libfltk1.1-dev libnetpbm10-dev libsdl-image1.2-dev \ libhdf5-serial-dev
# 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 \ 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 devscripts wget http://files.fawkesrobotics.org/packages/robotino3/ubuntu/pool/main/p/pcl-1.7/pcl-1.7_1.7.0-2+precise2.debian.tar.gz wget http://files.fawkesrobotics.org/packages/robotino3/ubuntu/pool/main/p/pcl-1.7/pcl-1.7_1.7.0-2+precise2.dsc wget http://files.fawkesrobotics.org/packages/robotino3/ubuntu/pool/main/p/pcl-1.7/pcl-1.7_1.7.0.orig.tar.gz dpkg-source -x pcl-1.7_1.7.0-2+precise2.dsc cd pcl-1.7-1.7.0 debuild -uc -us -b sudo dpkg -i *pcl*.deb # 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_$f-1.7.pc; \ done
ROS のインストールは,apt だとfawkesrobotics.org を取りに行かないので,
パッケージファイルを手作業でダウンロードして下さい.
fawkesrobotics.orgから全てダウンロード.
sudo dpkg -i ros*.deb echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc source /opt/ros/fuerte/setup.bash
2016/06/15現在,apt-get upgrade でros のパッケージを更新すると,fawkesのmake で,いくつかの警告が出るようになりました.
そしてfawkes では,警告 = エラーとしているため,コンパイルできなくなります.
(この前までは,upgrade しても問題なかったのですが…)
とりあえずの対処法として,上記のsudo dpkg -i *pcl*.deb からの作業をもう一度して,古いパッケージに戻したら,直りました.
ただし,これはコンパイル可能な段階のros パッケージの時に,robotino のインストール作業をしていた場合のみ有効で,現在新規で作業している場合は,無理です.
sudo apt-get install -y ccache echo 'export PATH="/usr/lib/ccache:$PATH"' | tee -a ~/.bashrc \ && source ~/.bashrc && echo $PATH which g++ gcc
/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
ccache -F 0 && ccache -M 2
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
sudo cat <<EOM >>/etc/init/rpcd.conf post-start script sleep 5 chmod 666 /tmp/__REC__RPC__12080__ end script EOM
cat << EOF >> ~/.bashrc export FAWKES_DIR=~/fawkes-robotino export GAZEBO_RCLL=~/gazebo-rcll export GAZEBO_PLUGIN_PATH=\$GAZEBO_PLUGIN_PATH:\$GAZEBO_RCLL/plugins/lib/gazebo export GAZEBO_MODEL_PATH=\$GAZEBO_RCLL/models export GAZEBO_MODEL_PATH=\$GAZEBO_MODEL_PATH:\$GAZEBO_RCLL/models/carologistics export LLSF_REFBOX_DIR=~/llsf-refbox export GAZEBO_WORLD_PATH=~/gazebo-rcll/worlds/carologistics/llsf.world EOF source ~/.bashrc cd wget https://files.fawkesrobotics.org/releases/fawkes-robotino-2015.tar.bz2 --no-check-certificate tar xf fawkes-robotino-2015.tar.bz2 cd fawkes-robotino make -j4 clean all gui
これで完成.
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