Make sure to install the necessary packages (particularly for graphics output)
sudo aptitude install libfltk-dev libfltk
sudo aptitude install autoconf automake
If someting fails during ''autoreconf -i'' later, fire up Synaptic and check whether the **latest** version is installed!
It's worth installing Player/Stage locally in your home!
This example will assume the PATH from below
cd
mkdir player-stage
cd player-stage
NOTE after installation, you'll end up with folders 'bin', 'include' and 'lib' here, which represents the local installation tree.
Check out the sources for player-stage from their SVN
I recommend version 2.1, as it is the most stable so far.
svn co https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/player/branches/release-2-1-patches/ player-2.1
svn co https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/stage/branches/release-2-1-patches/ stage-2.1
Install Player
INSTALL PLAYER FIRST! Stage is a module to Player and is compiled afterwards.
cd player-2.1
autoreconf -i
./configure --prefix=$HOME/player-stage/ps-2.1
make install
NOTE after running "autoreconf", insert the following line into "Makefile.am":
ACLOCAL_AMFLAGS = -I m4,
and the following one into "configure.ac":
AC_CONFIG_MACRO_DIR([m4])
Install Stage
Set the player/stage environment variables:
export PKG_CONFIG_PATH=$HOME/player-stage/ps-2.1/lib/pkgconfig
export PATH=$PATH:$HOME/player-stage/ps-2.1/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/player-stage/ps-2.1/lib
Configure and install stage:
cd stage-2.1
./bootstrap
./configure --prefix=$HOME/player-stage/ps-2.1
make install
NOTE after running "autoreconf", insert the following line into "Makefile.am":
ACLOCAL_AMFLAGS = -I m4,
and the following one into "configure.ac":
AC_CONFIG_MACRO_DIR([m4])
Now you should be good to go using Player/Stage
Tweaks & Error Messages During Install and how to Resolve Them
* glibc detected * ./stage_prob_controller: double free or corruption (!prev): 0x093e46d0 *
This is an old glibc++ error, which can be solved by setting the environment variable:
export MALLOC_CHECK_=0
Compile your own STAGE module: stage_test.cpp:21: error: ‘VERSION’ was not declared in this scope
You need to copy a config header file from the stage directory:
cp $HOME/player-stage/stage-2.1/config.h $HOME/player-stage/include/stage-2.1/
cp $HOME/player-stage/player-2.1/config.h $HOME/player-stage/include/player-2.1/
Stage is running and you want to know which TCP port it is listening on?
netstat --inet --tcp -lp
will tell you on a Linux box
In case of an error "unable to open color database"
sudo mkdir /usr/X11R6/lib/X11
sudo cp /etc/X11/rgb.txt /usr/X11R6/lib/X11/rgb.txt
Running a simple example from the include examples
Start the world simulator
player $HOME/player-stage/stage-2.1/worlds/simple.cfg
Start an example player (robot) from the included C++ examples
$HOME/player-stage/player-2.1/examples/libplayerc++/randomwalk
How to compile and run your own examples
Set the player/stage environment variables:
export PKG_CONFIG_PATH=$HOME/player-stage/lib/pkgconfig
export PATH=$PATH:$HOME/player-stage/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/player-stage/lib
Compile the demos
make OR
make files
Run Stage (check the Makefile for commands)
make start
Run your player (controller), for example
./prob_controller
Friday 15 October 2010
Cross-compile Player/Stage for the ARM architecture (E-Puck)
Although the example given refers to an ARM based embedded system running Linux on an E-Puck robot, the procedure should be similar for any robot platform. As long as the target architecture is an ARM processor running Linux of course.
Important things to consider when compiling player for the E-Puck:
FIRST: convince the "boost" build system to use your cross-compiler:
cd ./boost_1_34_1/tools/jam/src
./build.sh
cp bin.linux/bjam .
export PATH=/boost_1_34_1/tools/jam/src:$PATH
cd ../../../
add the following line to "./tools/v2/user-config.jam"
using gcc : 4.3 : /usr/bin/arm-linux-gnueabi-g++ ;
NOTE this does NOT work using "configure", instead use:
bjam -d2 --toolset=gcc '-sBUILD=release static multi/single' link=static --prefix=/usr/arm-linux-gnueabi --layout=system --with-thread --with-signals --with-filesystem install
bjam -d2 --toolset=gcc '-sBUILD=release static multi/single' --prefix=/usr/arm-linux-gnueabi --layout=system --with-thread --with-signals --with-filesystem install
to create both, static and dynamically linked libraries.
Finally, you can compile "player" as described above, although tell "configure" to use the cross-compiler!
Important things to consider when compiling player for the E-Puck:
- install the Embedian Armel cross-compiler + libraries (see above)
- download the library "libtool" (works at least up to libtool 2.4 incl. libltdl 7.3 on the E-Puck) and install using "configure" as described above. NOTE it is important to put the libraries into the tool-chains "lib" folder!
- download and install the "boost" library (recommended version: boost 1.34.1) (http://goodliffe.blogspot.com/2008/05/cross-compiling-boost.html)
FIRST: convince the "boost" build system to use your cross-compiler:
cd ./boost_1_34_1/tools/jam/src
./build.sh
cp bin.linux/bjam .
export PATH=
cd ../../../
add the following line to "./tools/v2/user-config.jam"
using gcc : 4.3 : /usr/bin/arm-linux-gnueabi-g++ ;
NOTE this does NOT work using "configure", instead use:
bjam -d2 --toolset=gcc '-sBUILD=release static multi/single' link=static --prefix=/usr/arm-linux-gnueabi --layout=system --with-thread --with-signals --with-filesystem install
bjam -d2 --toolset=gcc '-sBUILD=release static multi/single' --prefix=/usr/arm-linux-gnueabi --layout=system --with-thread --with-signals --with-filesystem install
to create both, static and dynamically linked libraries.
Finally, you can compile "player" as described above, although tell "configure" to use the cross-compiler!
Cross-Compiler for ARM Based Embedded System
Installing a cross-compiler for ARM
For an embeded Debian3 operating system, Emdebian4, on an Armel5 (ARM/ATMEL) processor. The cross-compiler toolchain will be installed on a Linux box running Ubuntu 10.04 (Lucid Lynx).
Adding Embedian repositories to the aptitude install system
sudo gedit /etc/apt/sources.list
Add the following lines to that file:
#
# -- Emdebian cross toolchains
#
deb http://buildd.emdebian.org/debian/ lenny main
deb-src http://buildd.emdebian.org/debian/ lenny main
NOTE: Since late 2010, the repository location has been changed to:
# deb http://www.emdebian.org/debian/ unstable main
# deb http://www.emdebian.org/debian/ testing main
deb http://www.emdebian.org/debian/ lenny main
deb-src http://www.emdebian.org/debian/ lenny main
In order to verify and be able to use the repositories they have to be authenticated via GPG.
The simple way to do this is:
sudo apt-get install emdebian-archive-keyring
If you want to do it manually, please check http://www.emdebian.org/packages/keys.html.
Installing the tool-chain via aptitude
sudo apt-cache search armel
sudo apt-get install linux-libc-dev-armel-cross
sudo apt-get install libc6-armel-cross libc6-dev-armel-cross
sudo apt-get install binutils-arm-linux-gnueabi
sudo apt-get install gcc-4.3-arm-linux-gnueabi
sudo apt-get install g++-4.3-arm-linux-gnueabi
In the case of library version conflicts the following might help:
sudo apt-get autoremove
Installing the cross-tools own aptitude and dpkg
The embedian tool-chain comes along with it's own package management, that will allow you to install pre-compiled versions of essential basic libraries that will make it easier to get going.
sudo apt-get install apt-cross dpkg-cross
Update the list of available software and list/install packages using:
sudo apt-cross -a armel -u
sudo apt-cross -a armel -l
sudo apt-cross -a armel -i
Using the Embedian cross-compiler
In order to compile code using the cross-compiler, you need to tell your PC explicitly to use it.
NOTE that the binaries created do NOT run on your PC as they are compiled to run on an ARM architecture! You can check for which platform etc. a file is by displaying it's ELF header:
readelf -h
Custom Makefile
Make sure that the following variables are set in your Makefile/environment:
CC = arm-linux-gnueabi-gcc (or arm-linux-gnueabi-g++)
CXX = arm-linux-gnueabi-g++
If you want to link static libraries, which can be helpful in the case of embedded systems where not necessarily all libraries are available as dynamically linked versions on the target system, use:
CFLAGS += -static
Software that uses the "configure" workflow (usually the case!)
./configure --prefix=/usr/arm-linux-gnueabi --host=arm-linux-gnueabi
For an embeded Debian3 operating system, Emdebian4, on an Armel5 (ARM/ATMEL) processor. The cross-compiler toolchain will be installed on a Linux box running Ubuntu 10.04 (Lucid Lynx).
Adding Embedian repositories to the aptitude install system
sudo gedit /etc/apt/sources.list
Add the following lines to that file:
#
# -- Emdebian cross toolchains
#
deb http://buildd.emdebian.org/debian/ lenny main
deb-src http://buildd.emdebian.org/debian/ lenny main
NOTE: Since late 2010, the repository location has been changed to:
# deb http://www.emdebian.org/debian/ unstable main
# deb http://www.emdebian.org/debian/ testing main
deb http://www.emdebian.org/debian/ lenny main
deb-src http://www.emdebian.org/debian/ lenny main
In order to verify and be able to use the repositories they have to be authenticated via GPG.
The simple way to do this is:
sudo apt-get install emdebian-archive-keyring
If you want to do it manually, please check http://www.emdebian.org/packages/keys.html.
Installing the tool-chain via aptitude
sudo apt-cache search armel
sudo apt-get install linux-libc-dev-armel-cross
sudo apt-get install libc6-armel-cross libc6-dev-armel-cross
sudo apt-get install binutils-arm-linux-gnueabi
sudo apt-get install gcc-4.3-arm-linux-gnueabi
sudo apt-get install g++-4.3-arm-linux-gnueabi
In the case of library version conflicts the following might help:
sudo apt-get autoremove
Installing the cross-tools own aptitude and dpkg
The embedian tool-chain comes along with it's own package management, that will allow you to install pre-compiled versions of essential basic libraries that will make it easier to get going.
sudo apt-get install apt-cross dpkg-cross
Update the list of available software and list/install packages using:
sudo apt-cross -a armel -u
sudo apt-cross -a armel -l
sudo apt-cross -a armel -i
Using the Embedian cross-compiler
In order to compile code using the cross-compiler, you need to tell your PC explicitly to use it.
NOTE that the binaries created do NOT run on your PC as they are compiled to run on an ARM architecture! You can check for which platform etc. a file is by displaying it's ELF header:
readelf -h
Custom Makefile
Make sure that the following variables are set in your Makefile/environment:
CC = arm-linux-gnueabi-gcc (or arm-linux-gnueabi-g++)
CXX = arm-linux-gnueabi-g++
If you want to link static libraries, which can be helpful in the case of embedded systems where not necessarily all libraries are available as dynamically linked versions on the target system, use:
CFLAGS += -static
Software that uses the "configure" workflow (usually the case!)
./configure --prefix=/usr/arm-linux-gnueabi --host=arm-linux-gnueabi
E-Puck Link to Demos that run on the PIC Processor
You can find some demos that get the lights flashing on the E-Puck robots here:
http://www.gctronic.com/doc/index.php/E-Puck/
http://www.gctronic.com/doc/index.php/E-Puck/
WLAN network setup for E-Puck and Linux Box
Setting up network for AD-HOC (point-to-point between PC and E-Puck)
We are working with a private local network using static IP addresses!
Add entries to file "/etc/network/interfaces" (on the PC):
auto wlan0
#iface wlan0 inet dhcp
iface wlan0 inet static
address 192.168.0.100
network 192.168.0.0
netmask 255.255.255.0
broadcast 192.168.0.255
#pointopoint 192.168.0.1
wireless-mode ad-hoc
and ''"/etc/network/interfaces"'' (on the E-Puck)
auto wlan1
#iface wlan1 inet dhcp
iface wlan1 inet static
address 192.168.0.1
network 192.168.0.0
netmask 255.255.255.0
broadcast 192.168.0.255
#pointopoint 192.168.0.100
wireless-mode ad-hoc
Invoke on both systems either
sudo /etc/init.d/networking restart
or
sudo ifdown wlan0 (or wlan1)
sudo ifup wlan0 (or wlan1)
Setting up network for ACCESS POINT (the PC needs a wireless router attached)
We are working with a private local network using static IP addresses!
Add entries to file "/etc/network/interfaces" (on the PC)
auto wlan0
#iface wlan0 inet dhcp
iface wlan0 inet static
address 192.168.0.100
network 192.168.0.0
netmask 255.255.255.0
gateway 192.168.0.200 (address of router!)
broadcast 192.168.0.255
wireless-essid 'name'
#wireless-key 1234567890
wireless-mode managed
and "/etc/network/interfaces" (on the E-Puck)
auto wlan1
#iface wlan1 inet dhcp
iface wlan1 inet static
address 192.168.0.1
network 192.168.0.0
netmask 255.255.255.0
gateway 192.168.0.200 (address of router!)
broadcast 192.168.0.255
wireless-essid 'name'
wireless-mode managed
#there is a line missing adjusting the power, look up on E-Puck
Invoke on both systems either
sudo /etc/init.d/networking restart
or
sudo ifdown wlan0 (or wlan1)
sudo ifup wlan0 (or wlan1)
We are working with a private local network using static IP addresses!
Add entries to file "/etc/network/interfaces" (on the PC):
auto wlan0
#iface wlan0 inet dhcp
iface wlan0 inet static
address 192.168.0.100
network 192.168.0.0
netmask 255.255.255.0
broadcast 192.168.0.255
#pointopoint 192.168.0.1
wireless-mode ad-hoc
and ''"/etc/network/interfaces"'' (on the E-Puck)
auto wlan1
#iface wlan1 inet dhcp
iface wlan1 inet static
address 192.168.0.1
network 192.168.0.0
netmask 255.255.255.0
broadcast 192.168.0.255
#pointopoint 192.168.0.100
wireless-mode ad-hoc
Invoke on both systems either
sudo /etc/init.d/networking restart
or
sudo ifdown wlan0 (or wlan1)
sudo ifup wlan0 (or wlan1)
Setting up network for ACCESS POINT (the PC needs a wireless router attached)
We are working with a private local network using static IP addresses!
Add entries to file "/etc/network/interfaces" (on the PC)
auto wlan0
#iface wlan0 inet dhcp
iface wlan0 inet static
address 192.168.0.100
network 192.168.0.0
netmask 255.255.255.0
gateway 192.168.0.200 (address of router!)
broadcast 192.168.0.255
wireless-essid 'name'
#wireless-key 1234567890
wireless-mode managed
and "/etc/network/interfaces" (on the E-Puck)
auto wlan1
#iface wlan1 inet dhcp
iface wlan1 inet static
address 192.168.0.1
network 192.168.0.0
netmask 255.255.255.0
gateway 192.168.0.200 (address of router!)
broadcast 192.168.0.255
wireless-essid 'name'
wireless-mode managed
#there is a line missing adjusting the power, look up on E-Puck
Invoke on both systems either
sudo /etc/init.d/networking restart
or
sudo ifdown wlan0 (or wlan1)
sudo ifup wlan0 (or wlan1)
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