ICub machines configuration/Archive: Difference between revisions
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''Go back to the [[ | ''Go back to the [[iCub machines configuration]] page''. | ||
= Operating system installation = | = Operating system installation = | ||
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store-passwords = no | store-passwords = no | ||
This implies that SVN will ask you for your password every time you do a commit, as opposed to storing it in plain text on the system. (Don't worry about changing your personal <code>~/.subversion/config</code> file: the parameter is not actually set there, so the global <code>/etc</code> setting is used.) | This implies that SVN will ask you for your password every time you do a commit, as opposed to storing it in plain text on the system. (Don't worry about changing your personal <code>~/.subversion/config</code> file: the parameter is not actually set there, so the global <code>/etc</code> setting is used.) | ||
= Additional software = | |||
== OpenCV == | |||
=== Manual compilation === | |||
This is needed for some iCub vision modules (e.g. motionCUT, stereo-vision). Instructions: | |||
* download [http://threadingbuildingblocks.org/download TBB Source], make | |||
* download OpenCV 2.4.3 or higher, CMake, set WITH_TBB=ON and insert the paths obtained with the TBB compilation, such as | |||
TBB_INCLUDE_DIR=/usr/local/src/robot/tbb41_20130314oss/include | |||
TBB_LIB_DIR=/usr/local/src/robot/tbb41_20130314oss/build/linux_intel64_gcc_cc4.6_libc2.15_kernel3.2.0_release | |||
* compile OpenCV | |||
* set OpenCV_DIR to the path of OpenCV-x.y.z/build, for example: | |||
export OpenCV_DIR=$code/OpenCV-2.4.3/build | |||
If the above fails, try BUILD_TBB=ON (i.e. automatically "Download and build TBB from source"). More information about TBB support in the latest OpenCV [http://answers.opencv.org/questions/query:tbb here]. | |||
=== Possible problems with manual compilation === | |||
'''error: ‘ptrdiff_t’ does not name a type''' | |||
Solution: edit OpenCV-x.y.z/modules/core/include/opencv2/core/core.hpp, add #include <stddef.h> | |||
'''fatal error: linux/videodev.h: No such file or directory''' | |||
Solution: | |||
sudo apt-get install libv4l-dev | |||
cd /usr/include/linux | |||
sudo ln -s ../libv4l1-videodev.h videodev.h | |||
'''undefined reference to `cvCreateCameraCapture_V4L(int)'''' | |||
Solution: see [https://code.ros.org/trac/opencv/ticket/324 here] (including the change suggested in the comments) | |||
'''error: ‘AVERROR_NUMEXPECTED’ was not declared in this scope''' | |||
Solution: apply the two patches located [https://code.ros.org/trac/opencv/ticket/1020 here] with the following commands. | |||
wget https://code.ros.org/trac/opencv/raw-attachment/ticket/1020/ffmpeg_build.patch https://code.ros.org/trac/opencv/raw-attachment/ticket/1020/ffmpeg_build_2.patch | |||
patch -p1 < ffmpeg_build.patch | |||
# when asked for which file to patch, give the full path to OpenCV-x.y.z/modules/highgui/src/cap_ffmpeg.cpp | |||
patch -p1 < ffmpeg_build_2.patch | |||
# ditto | |||
'''error: ‘av_rescale_q’ was not declared in this scope''' | |||
Solution: edit OpenCV-x.y.z/modules/highgui/src/cap_ffmpeg.cpp, add #include <libavutil/mathematics.h> before #include <ffmpeg/avcodec.h> ([http://eternalwandering777.wordpress.com/2012/05/18/opencv-2-3-1-build-on-ubuntu-12-04/ source]) | |||
'''error: #error The Eigen/Array header does no longer exist in Eigen3. All that functionality has moved to Eigen/Core.''' | |||
Solution: apply the patch located [https://code.ros.org/trac/opencv/ticket/805 here] with the following commands. | |||
wget https://code.ros.org/trac/opencv/raw-attachment/ticket/805/diff.txt | |||
patch -p1 < diff.txt | |||
# when asked for which file to patch, give the full path to OpenCV-x.y.z/modules/features2d/src/matchers.cpp | |||
'''No rule to make target `/usr/lib/python3.0/config/libpython3.0.so', needed by `lib/cv.so'.''' | |||
Solution: ccmake ., toggle advanced options (press 't'), set | |||
PYTHON_LIBRARY /usr/lib/python2.7/config/libpython2.7.so | |||
'''error: ‘avformat_free_context’ was not declared in this scope''' | |||
Solution: remove any manually installed ffmpeg version, then | |||
sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev | |||
= POETICON++ software = | |||
From June 2012, the iCub software was upgraded with the Poeticon system demonstrations. | |||
The following machines were updates: PC104, icubbrain1, icubbrain2, chico2 (windows), chico3, chico4. | |||
* Machine chico2 runs Windows. Binary installers were downloaded from the iCub site (YARP installer and iCub installer). When running the installers, select only the dependencies and not the main libraries (yarp and iCub). Then download and install from svn source the iCub and Yarp repositories. Then the CSLU Toolkit was installed for speech recognition. | |||
* Machines in linux (all the others) now have the repository in <code>/usr/local/robot</code> |
Latest revision as of 13:17, 12 February 2015
Go back to the iCub machines configuration page.
Operating system installation
Operations after first boot
- choose Main server (rather than Portugal server, which is not always reliable) as the software repository:
- on desktop machines, System -> Administration -> Synaptic Package Manager -> Settings -> Repositories -> Download from: Main server
- on server machines, remove all the "pt." strings from
/etc/apt/sources.list
with the following command:sudo sed -i 's/pt.//g' sources.list
Other operations
Environment variables
- Create a file called ~/.bash_env (used by both interactive and non-interactive sessions, such as commands launched via
yarprun
from another machine) like this one:
export YARP_ROOT=/home/icub/yarp2 export YARP_DIR=$YARP_ROOT/build export ICUB_ROOT=/home/icub/iCub export ICUB_DIR=$ICUB_ROOT/main/build export PATH=$PATH:$YARP_DIR/bin:$ICUB_DIR/bin export ICUB_ROBOTNAME=iCubLisboa01 # only for machines that connect to the real robot export IPOPT_DIR=/home/icub/Ipopt-3.10.0 # only for servers (IK solver) source $YARP_ROOT/scripts/yarp_completion
If you need software from icub-contrib (most likely you don't, as most of that repository has been migrated to GitHub), some lines need to be added or changed:
export ICUBcontrib_DIR=$code/icub-contrib-common/build export PATH=$PATH:$YARP_DIR/bin:$ICUB_DIR/bin:$ICUBcontrib_DIR/bin export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub:$ICUBcontrib_DIR/share/ICUBcontrib
- Then, before the following line of /etc/bash.bashrc
[ -z "$PS1" ] && return
add this:
# per-user environment variables (non-interactive and interactive mode) source $HOME/.bash_env
Subversion (older versions)
For security, uncomment (thus enabling) the following parameter in /etc/subversion/config
:
store-passwords = no
This implies that SVN will ask you for your password every time you do a commit, as opposed to storing it in plain text on the system. (Don't worry about changing your personal ~/.subversion/config
file: the parameter is not actually set there, so the global /etc
setting is used.)
Additional software
OpenCV
Manual compilation
This is needed for some iCub vision modules (e.g. motionCUT, stereo-vision). Instructions:
- download TBB Source, make
- download OpenCV 2.4.3 or higher, CMake, set WITH_TBB=ON and insert the paths obtained with the TBB compilation, such as
TBB_INCLUDE_DIR=/usr/local/src/robot/tbb41_20130314oss/include TBB_LIB_DIR=/usr/local/src/robot/tbb41_20130314oss/build/linux_intel64_gcc_cc4.6_libc2.15_kernel3.2.0_release
- compile OpenCV
- set OpenCV_DIR to the path of OpenCV-x.y.z/build, for example:
export OpenCV_DIR=$code/OpenCV-2.4.3/build
If the above fails, try BUILD_TBB=ON (i.e. automatically "Download and build TBB from source"). More information about TBB support in the latest OpenCV here.
Possible problems with manual compilation
error: ‘ptrdiff_t’ does not name a type
Solution: edit OpenCV-x.y.z/modules/core/include/opencv2/core/core.hpp, add #include <stddef.h>
fatal error: linux/videodev.h: No such file or directory
Solution:
sudo apt-get install libv4l-dev cd /usr/include/linux sudo ln -s ../libv4l1-videodev.h videodev.h
undefined reference to `cvCreateCameraCapture_V4L(int)'
Solution: see here (including the change suggested in the comments)
error: ‘AVERROR_NUMEXPECTED’ was not declared in this scope
Solution: apply the two patches located here with the following commands.
wget https://code.ros.org/trac/opencv/raw-attachment/ticket/1020/ffmpeg_build.patch https://code.ros.org/trac/opencv/raw-attachment/ticket/1020/ffmpeg_build_2.patch patch -p1 < ffmpeg_build.patch # when asked for which file to patch, give the full path to OpenCV-x.y.z/modules/highgui/src/cap_ffmpeg.cpp patch -p1 < ffmpeg_build_2.patch # ditto
error: ‘av_rescale_q’ was not declared in this scope
Solution: edit OpenCV-x.y.z/modules/highgui/src/cap_ffmpeg.cpp, add #include <libavutil/mathematics.h> before #include <ffmpeg/avcodec.h> (source)
error: #error The Eigen/Array header does no longer exist in Eigen3. All that functionality has moved to Eigen/Core.
Solution: apply the patch located here with the following commands.
wget https://code.ros.org/trac/opencv/raw-attachment/ticket/805/diff.txt patch -p1 < diff.txt # when asked for which file to patch, give the full path to OpenCV-x.y.z/modules/features2d/src/matchers.cpp
No rule to make target `/usr/lib/python3.0/config/libpython3.0.so', needed by `lib/cv.so'.
Solution: ccmake ., toggle advanced options (press 't'), set
PYTHON_LIBRARY /usr/lib/python2.7/config/libpython2.7.so
error: ‘avformat_free_context’ was not declared in this scope
Solution: remove any manually installed ffmpeg version, then
sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev
POETICON++ software
From June 2012, the iCub software was upgraded with the Poeticon system demonstrations. The following machines were updates: PC104, icubbrain1, icubbrain2, chico2 (windows), chico3, chico4.
- Machine chico2 runs Windows. Binary installers were downloaded from the iCub site (YARP installer and iCub installer). When running the installers, select only the dependencies and not the main libraries (yarp and iCub). Then download and install from svn source the iCub and Yarp repositories. Then the CSLU Toolkit was installed for speech recognition.
- Machines in linux (all the others) now have the repository in
/usr/local/robot