Install Groovy on the KIPR Link from Source

This page shows how-to install ROS Groovy Galapagos on the KIPR Link robot controller.

This guide shows how-to installing Groovy and its dependencies from source on the KIPR Link.

Contents

  1. Install Groovy on the KIPR Link from Source
    1. Setup the KIPR Link
      1. Update the KIPR Link Firmware
      2. Setup the WIFI and connect to the Link
      3. Set Date and Time
    2. Prepare the USB Flash Drive
      1. Install mke2fs
      2. Partition the USB Flash Drive
      3. Format the Data Partition
      4. Format and Enable the Swap Partition
      5. Having /usr/local and /opt on the USB device
    3. ROS Prerequisites
      1. Get wget and git with SSL support
      2. Install Python
      3. Install setuptools
      4. Install pip
      5. Install OpenMPI
      6. Install Boost
      7. Install CMake
      8. Install yaml-cpp
      9. Install EmPy
      10. Install nose
      11. Install TinyXml
      12. Install Apache Portable Runtime
      13. Install APR-util
      14. Install Apache logging services
      15. Install GTest
      16. Install netifaces
    4. Install ROS Groovy Galapagos
      1. Install wstool
      2. Install rosdep
      3. Install catkin_pkg
      4. Install rosinstall_generator
      5. Build the catkin Packages
      6. Adapt setup.bash
    5. Install common_msgs, actionlib and the ros4link Package
      1. Setup the Build Environment
      2. Create a Catkin Workspace
      3. Download Packages
      4. Compile and Install Packages

This step is optional. However you might face some issues if you have another firmware running than 2.0.3 or if you run a modified version of 2.0.3.

To update the firmware to version 2.0.3 follow these instructions.

Boot the Link and enable and setup WIFI in [Settings] > [Network] and connect to a wireless network. Then log in to the Link via SSH. An example for IP 192.168.0.1: 

ssh root@192.168.0.1

Set Date and Time

Set /etc/localtime to the correct time zome. An example for PST: 

root@kovan:~# ln -sf /usr/share/zoneinfo/America/Los_Angeles /etc/localtime

Set the date and time using the date command. An example for 10/31/2013 2:00 pm 

root@kovan:~# date 103114002013
Thu Oct 31 14:00:00 PDT 2013

Note: Switching off the KIPR Link will reset the system time so you have to set it again.

Prepare the USB Flash Drive

The KIPR Link doesn't provide neither enough on-board memory nor RAM to compile or store the ROS or its dependencies. We can avoid this limitation by extending the memory with an USB flash drive. This guide is tested with an 8GB drive.

Install mke2fs

root@kovan:~# opkg install http://netv.bunnie-bar.com/build/kovan-debug/LATEST/armv5te/e2fsprogs-mke2fs_1.42-r2_armv5te.ipk

Partition the USB Flash Drive

We partition the flash drive into a 6GB (used for data) partition and a 2GB partition (used for swap) using cfdisk 

root@kovan:~# cfdisk /dev/sda

                           cfdisk (util-linux 2.20.1)

                              Disk Drive: /dev/sda
                        Size: 8004304896 bytes, 8004 MB
              Heads: 247   Sectors per Track: 62   Cylinders: 1020

    Name        Flags      Part Type  FS Type          [Label]        Size (MB)
 ------------------------------------------------------------------------------
    sda1                    Primary   Linux                             6147.17
    sda2                    Primary   Linux                             1857.15*

Format the Data Partition

root@kovan:~# mkfs -t ext4 /dev/sda1

Format and Enable the Swap Partition

root@kovan:~# mkswap /dev/sda2
root@kovan:~# swapon /dev/sda2

Note: Edit /etc/fstab to permanently enable the swap partition. Be aware that in this case the system will not boot if the USB flash drive is not inserted!

Having /usr/local and /opt on the USB device

root@kovan:~# mkdir -p /kovan/media/sda1/usr/local
root@kovan:~# ln -s /kovan/media/sda1/usr/local /usr/local
root@kovan:~# mkdir -p /kovan/media/sda1/opt
root@kovan:~# ln -s /kovan/media/sda1/opt /opt

ROS Prerequisites

Get wget and git with SSL support

Install wget

root@kovan:~# opkg install http://netv.bunnie-bar.com/build/kovan-debug/LATEST/armv5te/wget_1.13.4-r13.1_armv5te.ipk

Install curl

root@kovan:~# opkg install http://netv.bunnie-bar.com/build/kovan-debug/LATEST/armv5te/libcurl5_7.23.1-r0_armv5te.ipk
root@kovan:~# opkg install http://netv.bunnie-bar.com/build/kovan-debug/LATEST/armv5te/curl_7.23.1-r0_armv5te.ipk

Install CA certificates

root@kovan:~# mkdir -p /etc/ssl/certs

Add the following to the end of file /etc/profile 

export SSL_CERT_DIR=/etc/ssl/certs

root@kovan:~# source /etc/profile
root@kovan:~# opkg install http://netv.bunnie-bar.com/build/kovan-debug/LATEST/armv5te/openssl-misc_1.0.0g-r15.0_armv5te.ipk
root@kovan:~# cd /etc/ssl/certs
root@kovan:/etc/ssl/certs# curl http://curl.haxx.se/ca/cacert.pem -o cacert.pem
root@kovan:/etc/ssl/certs# awk 'split_after==1{n++;split_after=0} /-----END CERTIFICATE-----/ {split_after=1} {print > "cert" n ".pem"}' cacert.pem
root@kovan:/etc/ssl/certs# for file in *.pem; do ln -s $file `openssl x509 -hash -noout -in $file`.0; done
root@kovan:/etc/ssl/certs# cd ~

Install git

root@kovan:~# opkg install http://netv.bunnie-bar.com/build/kovan-debug/LATEST/armv5te/git_1.7.7-r2_armv5te.ipk
root@kovan:~# git config --global http.sslcainfo /etc/ssl/certs/cacert.pem

Install Python

root@kovan:~# wget http://www.python.org/ftp/python/2.7.3/Python-2.7.3.tgz
root@kovan:~# tar xf Python-2.7.3.tgz
root@kovan:~# cd Python-2.7.3/
root@kovan:~/Python-2.7.3# ./configure
root@kovan:~/Python-2.7.3# make
root@kovan:~/Python-2.7.3# make install
root@kovan:~/Python-2.7.3# cd ..
root@kovan:~# rm -r Python-2.7.3
root@kovan:~# rm Python-2.7.3.tgz

Install setuptools

root@kovan:~# wget https://pypi.python.org/packages/2.7/s/setuptools/setuptools-0.6c11-py2.7.egg
root@kovan:~# sh setuptools-0.6c11-py2.7.egg
root@kovan:~# rm setuptools-0.6c11-py2.7.egg

Install pip

root@kovan:~# wget https://raw.github.com/pypa/pip/master/contrib/get-pip.py
root@kovan:~# python get-pip.py
root@kovan:~# rm get-pip.py

Install OpenMPI

root@kovan:~# wget http://www.open-mpi.org/software/ompi/v1.6/downloads/openmpi-1.6.3.tar.bz2
root@kovan:~# tar xf openmpi-1.6.3.tar.bz2
root@kovan:~# cd openmpi-1.6.3
root@kovan:~/openmpi-1.6.3# ./configure
root@kovan:~/openmpi-1.6.3# make all
root@kovan:~/openmpi-1.6.3# make install
root@kovan:~/openmpi-1.6.3# cd ..
root@kovan:~# rm -r openmpi-1.6.3
root@kovan:~# rm openmpi-1.6.3.tar.bz2

Install Boost

root@kovan:~# wget http://downloads.sourceforge.net/project/boost/boost/1.55.0/boost_1_55_0.tar.gz
root@kovan:~# tar xf boost_1_55_0.tar.gz

root@kovan:~# cd boost_1_55_0/
root@kovan:~/boost_1_55_0# ./bootstrap.sh --prefix=/usr/local
root@kovan:~/boost_1_55_0# cp tools/build/v2/user-config.jam user-config.jam

Add the line 

using mpi ;

to the file user-config.jam 

root@kovan:~/boost_1_55_0# ./b2 --user-config=user-config.jam
root@kovan:~/boost_1_55_0# ./b2 --user-config=user-config.jam install
root@kovan:~/boost_1_55_0# cd ..
root@kovan:~# rm -r boost_1_55_0
root@kovan:~# rm boost_1_55_0.tar.gz

Install CMake

root@kovan:~# wget http://www.cmake.org/files/v2.8/cmake-2.8.10.2.tar.gz
root@kovan:~# tar xf cmake-2.8.10.2.tar.gz
root@kovan:~# cd cmake-2.8.10.2
root@kovan:~/cmake-2.8.10.2# ./bootstrap
root@kovan:~/cmake-2.8.10.2# make
root@kovan:~/cmake-2.8.10.2# make install
root@kovan:~/cmake-2.8.10.2# cd ..
root@kovan:~# rm -r cmake-2.8.10.2
root@kovan:~# rm cmake-2.8.10.2.tar.gz

Install yaml-cpp

root@kovan:~# wget http://yaml-cpp.googlecode.com/files/yaml-cpp-0.5.0.tar.gz
root@kovan:~# tar xf yaml-cpp-0.5.0.tar.gz
root@kovan:~# cd yaml-cpp-0.5.0/build
root@kovan:~/yaml-cpp-0.5.0/build# cmake ..
root@kovan:~/yaml-cpp-0.5.0/build# make
root@kovan:~/yaml-cpp-0.5.0/build# make install
root@kovan:~/yaml-cpp-0.5.0/build# cd ../..
root@kovan:~# rm -r yaml-cpp-0.5.0
root@kovan:~# rm yaml-cpp-0.5.0.tar.gz

Install EmPy

root@kovan:~# pip install -U empy

Install nose

root@kovan:~# pip install -U nose

Install TinyXml

root@kovan:~# wget http://iweb.dl.sourceforge.net/project/tinyxml/tinyxml/2.6.2/tinyxml_2_6_2.zip
root@kovan:~# unzip tinyxml_2_6_2.zip
root@kovan:~# cd tinyxml

Add the lines to the files tinyxml.h and tinystr.h 

#ifndef TIXML_USE_STL
#define TIXML_USE_STL
#endif

Change in the file Makefile 

TINYXML_USE_STL := NO

to 

TINYXML_USE_STL := YES

root@kovan:~/tinyxml# make
root@kovan:~/tinyxml# gcc -shared -o libtinyxml.so *.o
root@kovan:~/tinyxml# cp libtinyxml.so /usr/local/lib/
root@kovan:~/tinyxml# cp tinyxml.h /usr/local/include/
root@kovan:~/tinyxml# cp tinystr.h /usr/local/include/
root@kovan:~/tinyxml# cd ..
root@kovan:~# rm -r tinyxml
root@kovan:~# rm tinyxml_2_6_2.zip

Install Apache Portable Runtime

root@kovan:~# wget http://mirror.cc.columbia.edu/pub/software/apache//apr/apr-1.5.1.tar.bz2
root@kovan:~# tar xf apr-1.5.1.tar.bz2
root@kovan:~# cd apr-1.5.1
root@kovan:~/apr-1.5.1# ./configure
root@kovan:~/apr-1.5.1# make
root@kovan:~/apr-1.5.1# make install
root@kovan:~/apr-1.5.1# cd ..
root@kovan:~# rm -r apr-1.5.1
root@kovan:~# rm apr-1.5.1.tar.bz2

Install APR-util

root@kovan:~# wget http://mirror.cc.columbia.edu/pub/software/apache//apr/apr-util-1.5.3.tar.bz2
root@kovan:~# tar xf apr-util-1.5.3.tar.bz2
root@kovan:~# cd apr-util-1.5.3
root@kovan:~/apr-util-1.5.3# ./configure --with-apr=/usr/local/apr
root@kovan:~/apr-util-1.5.3# make
root@kovan:~/apr-util-1.5.3# make install
root@kovan:~/apr-util-1.5.3# cd ..
root@kovan:~# rm -r apr-util-1.5.3
root@kovan:~# rm apr-util-1.5.3.tar.bz2

Install Apache logging services

root@kovan:~# wget http://apache.mirrors.hoobly.com/logging/log4cxx/0.10.0/apache-log4cxx-0.10.0.zip
root@kovan:~# unzip apache-log4cxx-0.10.0.zip
root@kovan:~# cd apache-log4cxx-0.10.0

Add the following line to the files src/main/cpp/inputstreamreader.cpp, src/main/cpp/socketoutputstream.cpp and src/examples/cpp/console.cpp 

#include <string.h>

Add the following line to the file src/examples/cpp/console.cpp 

#include <stdio.h>

root@kovan:~/apache-log4cxx-0.10.0# chmod u+x configure
root@kovan:~/apache-log4cxx-0.10.0# ./configure
root@kovan:~/apache-log4cxx-0.10.0# make
root@kovan:~/apache-log4cxx-0.10.0# make install
root@kovan:~/apache-log4cxx-0.10.0# cd ..
root@kovan:~# rm -r apache-log4cxx-0.10.0
root@kovan:~# rm apache-log4cxx-0.10.0.zip

Install GTest

root@kovan:~# cd /usr/src/
root@kovan:/usr/src# wget http://googletest.googlecode.com/files/gtest-1.7.0.zip
root@kovan:/usr/src# unzip gtest-1.7.0.zip
root@kovan:/usr/src# mv gtest-1.7.0 gtest
root@kovan:/usr/src# rm -r gtest-1.7.0.zip
root@kovan:/usr/src# cd ~

Install netifaces

root@kovan:~# pip install -U netifaces

Install ROS Groovy Galapagos

Install wstool

root@kovan:~# pip install -U wstool

Install rosdep

root@kovan:~# pip install -U rosdep
root@kovan:~# rosdep init
root@kovan:~# rosdep update

Install catkin_pkg

root@kovan:~# pip install -U catkin_pkg

Install rosinstall_generator

root@kovan:~# pip install -U rosinstall_generator

Build the catkin Packages

Create a catkin Workspace

root@kovan:~# mkdir /kovan/media/sda1/ros_catkin_ws
root@kovan:~# cd /kovan/media/sda1/ros_catkin_ws

Fetch the core packages with rosinstall_generator and wstool

root@kovan:/kovan/media/sda1/ros_catkin_ws# rosinstall_generator ros_comm --rosdistro groovy --deps --wet-only > groovy-ros_comm-wet.rosinstall
root@kovan:/kovan/media/sda1/ros_catkin_ws# wstool init -j8 src groovy-ros_comm-wet.rosinstall

Note: If you get error messages likeError processing <...> Checkout of <...> into <...> failed., try to update the work space with 

root@kovan:/kovan/media/sda1/ros_catkin_ws# wstool update -t src/

Adapt some sources

Change in file src/catkin/cmake/platform/lsb.cmake 

  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -si
    OUTPUT_VARIABLE LSB_DISTRIB_ID
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  string(TOUPPER ${LSB_DISTRIB_ID} v)
  set(${v} TRUE CACHE BOOL "LSB Distrib tag")

  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -sd
    OUTPUT_VARIABLE LSB_DESCRIPTION
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -sr
    OUTPUT_VARIABLE LSB_RELEASE
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -sc

into 

  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -s -i
    OUTPUT_VARIABLE LSB_DISTRIB_ID
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  string(TOUPPER ${LSB_DISTRIB_ID} v)
  set(${v} TRUE CACHE BOOL "LSB Distrib tag")

  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -s -d
    OUTPUT_VARIABLE LSB_DESCRIPTION
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -s -r
    OUTPUT_VARIABLE LSB_RELEASE
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -s -c

Change in the file src/rospack/CMakeLists.txt 

target_link_libraries(rospack tinyxml ${Boost_LIBRARIES} ${PYTHON_LIBRARIES})

to 

target_link_libraries(rospack tinyxml ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} dl util)

Change in the file src/ros_comm/roscpp/src/libros/service_server_link.cpp 

  uint32_t len = *((uint32_t*)(buffer.get() + 1));

to 

#if defined(__arm__) || defined(__arm)
  uint32_t len;

  memcpy(&len, buffer.get() + 1, sizeof(uint32_t));
#else
  uint32_t len = *((uint32_t*)(buffer.get() + 1));
#endif

Compile and Install ROS

root@kovan:/kovan/media/sda1/ros_catkin_ws# ./src/catkin/bin/catkin_make_isolated --install --install-space /opt/ros/groovy -DCMAKE_BUILD_TYPE=Release

Clean-up

root@kovan:/kovan/media/sda1/ros_catkin_ws# cd ..
root@kovan:/kovan/media/sda1# rm -r ros_catkin_ws/
root@kovan:/kovan/media/sda1# cd ~

Adapt setup.bash

Add to the file /opt/ros/groovy/setup.bash 

export ROS_IP=127.0.0.1
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

Setup the Build Environment

root@kovan:~# source /opt/ros/groovy/setup.bash

Create a Catkin Workspace

root@kovan:~# mkdir -p ~/catkin_ws/src
root@kovan:~# cd ~/catkin_ws/src/
root@kovan:~/catkin_ws/src# catkin_init_workspace

Download Packages

root@kovan:~/catkin_ws/src# git clone git://github.com/ros/common_msgs.git
root@kovan:~/catkin_ws/src# cd common_msgs/
root@kovan:~/catkin_ws/src/common_msgs# git checkout groovy-devel
root@kovan:~/catkin_ws/src/common_msgs# cd ..
root@kovan:~/catkin_ws/src# git clone https://github.com/ros/actionlib.git
root@kovan:~/catkin_ws/src# cd actionlib/
root@kovan:~/catkin_ws/src/actionlib# git checkout groovy-devel
root@kovan:~/catkin_ws/src/actionlib# cd ..
root@kovan:~/catkin_ws/src# git clone https://code.google.com/p/ros4link.wrapper/
root@kovan:~/catkin_ws/src# mv ros4link.wrapper/* ./
root@kovan:~/catkin_ws/src# rm -r ros4link.wrapper/

Compile and Install Packages

root@kovan:~/catkin_ws/src# cd ..
root@kovan:~/catkin_ws# catkin_make -DCMAKE_INSTALL_PREFIX=/opt/ros/groovy install

Wiki: Robots/KIPR_Link/Groovy_src (last edited 2014-06-27 19:04:32 by StefanZeltner)

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