DARwIn OP Setup

The following pages link to steps required prior to using the Darwin :-

Initial Configuration

- [[Software Installation | DARwIn OP Setup]]

Motor Setup

- [[Baud rate and Motor ID setup using Windows | Baud Rate   Windows]]
- [[Firmware Update using Linux| Firmware Update]]

Setting the Color Table

- [[Calibrating the color table | Colortable (LUT)]]

Testing

- [[Code for testing Vision, running VCM and DCM | Running DARwIn OP]]

Network

- [[Network Setting | Network Setting]]

The DARwIn-OP Robot comes with Ubuntu 9.10 preinstalled. However, we recommend a newer version of Ubuntu for performance and feature extension purposes. Follow Installing Ubuntu 10.10 on DARwIn OP for our recommendation.

Install Packages and Dependencies

1. Install packages through aptitude.
   sudo apt-get install wget build-essential subversion git-core libreadline6-dev

2. This will be a problem with Ubuntu 9.10. To correct this problem, edit the sources.list file

https://help.ubuntu.com/community/EOLUpgrades/Karmic

and also add:

deb http://fit-pc2.com/download/ubuntu/dists/karmic binary/

deb-src http://fit-pc2.com/download/ubuntu/dists/karmic source/

Installing Lua from source

1. Download lua. http://www.lua.org/versions.html#5.2

2. Install Lua 5.1

    wget http://www.lua.org/ftp/lua-5.1.4.tar.gz
   
    tar xvvf lua-5.1.4.tar.gz
   
    cd lua-5.1.4
   
    make linux
   
    sudo make install
   

Downloading and Installing the Boost headers

1. Download the latest version of boost from www.boost.org.
   wget http://sourceforge.net/projects/boost/files/boost/1.49.0/boost_1_49_0.tar.bz2/

2. Extract boost on the darwin.
   tar -xvf boost_1_49_0.tar.bz2

3. Move the boost folder to the /usr/local/ directory
   sudo mv boost_1_49_0 /usr/local/

4. Change to the /usr/local/include directory and make a symbolic link to the boost files.
   cd /usr/local/include
sudo ln -s /usr/local/boost_1_49_0/boost boost

5. After this, feel free to delete the tarball. git clone git://linuxtv.org/media_build.git rm boost_1_48_0.tar.gz

Install updated V4L2 camera drivers

1. Download latest driver: http://linuxtv.org/downloads/drivers/
2. After extracting the tar.gz file, we need to build (exec the following commands): git clone git://linuxtv.org/media_build.git cd media_build <install patchutils, running the above command would prop a dependency error with the 'patchutils' installation fix command> ./build

sudo make install

-- For reference --> http://linuxtv.org/wiki/index.php/How_to_Obtain,_Build_and_Install_V4L-DVB_Device_Drivers

Installing the Open-Source Code

NOTE: This works for the 1.1 release, but the directions may change for the 1.2 release from the GitHub codebase.

1. Download the latest version of the DARwIn open-source release at

    `https://fling.seas.upenn.edu/~robocup/wiki/`
   

2. Copy the tarball to the robot.

• scp upenn_darwinop_1.0.tar.gz [email protected]:~/Desktop

3. Navigate to the directory in which the code base is stored and run the following: ○ tar -xvf upenn_darwinop_1.0.tar.gz

4. Enter the ‘Lib’ directory of the open-source directory ○ cd upenn_darwinop_1.0/Lib

5. Run the following:

○ make clean

○ make setup_op

6. Run the following:

○ sudo rm /lib/udev/rules.d/95-upower-wup.rules (Or comment out all lines in it - that’s what we did)

7. Reboot the robot.

Running the Open-Source Code 1. Navigate to the Lib directory of the open source code.

○ cd ..../upenn_darwinop_1.0/Lib 2. Run the following make command:

○ make setup_op

3. Navigate to the Player/Lib directory

○ cd ..../upenn_darwinop_1.0/Player/Lib

4. Create a screen from which to run dcm. This will provide a means for the dcm to continue running even after you detach the screen (and even your computer!). ○ screen -S dcm

5. Execute the following command:

○ lua run_dcm.lua

6. Detach the dcm screen.

○ ctrl-A ctrl-D in quick succession.

7. Navigate to the Player directory

○ cd ..../upenn_darwinop_1.0/Player

8. Create a screen to control the robot. ○ screen -S player

9. Execute a lua script to control the robot. This can be any of test_vision.lua, player.lua, test_walk.lua, etc. In this way, you can also create your own lua scripts.

○ Ex: lua player.lua

10. If you are running player, detach the screen by repeating step 6. Otherwise, continue to step 11.

11. If you are running a test script, you can now control the robot via the terminal if your script is capable of doing so. If you are running our supplied player code, you can now exit the ssh session and detach the ethernet cable from the robot. To change states, press the middle button on the DARwIn’s back.