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First of all some side items:

• add user to dialout group to deal with serial port permissions with the command "usermod -a -G dialout josh"
• add /sbin/ to path in .bashrc
• (optional) add a line to .bashrc to export DISTCC_HOSTS

...

1) Install dependency packages assuming ubuntu derivative.  .  Note - these steps can potentially be done during SD cart setup on the host machine.

sudo apt-get update
sudo apt-get install aptitude
sudo aptitude update
sudo aptitude install build-essential freeglut3-dev libboost-all-dev xterm libtiff4-dev libpng12-dev libgsl0-dev subversion bzr cmake-curses-gui libxftlibblas-dev libxineramarsync libgmp3-dev fluid default-jre

2) Download MOOS-IvP from httpDownloads:

cd ~/
svn co https://oceanai.mit.edu/svn/moos-ivp-aro/

...

releases/moos-ivp-13.5 moos-ivp
bzr co lp:goby/2.0 goby
cd goby
sudo ./DEPENDENCIES debian
cd ~/ 
svn cocheckout https://oceanaihovergroup.mitgooglecode.educom/svn/moos-ivp-aro/trunk moos-ivptrunk/third-party third-party
svn checkout https://hovergroup.googlecode.com/svn/trunk/ivp-extend hovergroup-extend

cd ~/
mkdir MOOS
cd MOOS
git clone  https://github.com/themoos/core-moos.git MOOSCore
cd MOOSCore
git checkout master
cd ..
git clone https://github.com/themoos/essential-moos.git MOOSEssentials
cd MOOSEssentials
git checkout devel
cd ..
git clone https://github.com/themoos/ui-moos.git MOOSToolsUI
cd MOOSToolsUI
git checkout V10-beta-rc1
cd ..
git clone https://github.com/themoos/geodesy-moos.git MOOSGeodesy
cd MOOSGeodesy
git checkout master
cd ..

mv ~/MOOS/MOOSCore/Core/libMOOS/Comms/XPCGetProtocol.cpp ~/MOOS/MOOSCore/Core/libMOOS/Comms/XPCGetProtocol_bck.cpp
cp ~/third-party/XPCGetProtocol.cpp ~/MOOS/MOOSCore/Core/libMOOS/Comms/

3) Build MOOS with the following commands:

export CXX='/usr/local/lib/distcc/arm-linux-gnueabi-g++-4.4'
export CC='/usr/local/lib/distcc/arm-linux-gnueabi-gcc-4.4'
export DISTCC_HOSTS=192.168.1.4
export DISTCC_POTENTIAL_HOSTS=192.168.1.4

cd ~/moos-ivp/MOOS/MOOSCore
cmake -D DISABLE_NAMES_LOOKUP=ON -D USE_ASYNC_COMMS=ON .
make -j4j2
cd ../MOOSEssentials
cmake .
make -j4j2
cd ../MOOSGeodesy
cmake .
make -j4j2
cd ../MOOSToolsUI
cmake -D BUILD_GRAPHICAL_TOOLS=ONOFF .
distcc-pump make -j4

4) Build MOOS-IvP:

-j2

cd ~/moos-ivp
rm MOOS
ln -s ../MOOS MOOS

cd ~/moos-ivp/ivp/src
cmake -D IVP_BUILD_GUI_CODE=ONOFF .
distcc-pump make -j4

5) Download and install goby

j2

cd ~/
bzr co lp:goby
cd goby
sudo ./DEPENDENCIES ubuntu

cmakecmake -D build_apps=OFF -D build_appsmoos=OFF .
make -j4

6) Download and build hovergroup svn:

j2
cd ~/ 
svn checkout https://hovergroup.googlecode.com/svn/trunk/ hovergroup/hovergroup-extend/trunk
./build_proto.sh
cmake -D BOOST_146=ON -D BUILD_SHORE_APPS=OFF .
make -j2
cd ~/hovergroup/ivp-extend/trunkjosh
./build_proto.sh
cmake -D BUILD_SHORE_APPS=OFF .
make -j4j2

7) Add executable directories to your path (replacing "josh" with your username).  Add the following lines to your ~/.bashrc file.  4) Bashrc:

HOME_DIR="/home/josh"
IVP_DIR=${HOME_DIR}/moos-ivp
MOOS_DIR=${IVP_DIR}/MOOS
PATH=$PATH:${MOOS_DIR}/MOOSCore/bin:${MOOS_DIR}/MOOSEssentials/bin:${MOOS_DIR}/MOOSToolsUI/bin
PATH=$PATH:${IVP_DIR}/bin
HOVERGROUP_DIR=${HOME_DIR}/hovergroup/ivp-extend
PATH=$PATH:${HOVERGROUP_DIR}/trunk/bin

8) Download the latest version of Eclipse CDT from http://www.eclipse.org/cdt/downloads.php and extract to a location of your choosing (no installation required).  After starting Eclipse you'll need to add the projects and set their references for the indexer to work.  

First I would recommend closing some of the extra windows around the screen.  Almost all of the side tabs can be removed; the only ones we need are the project explorer and the console, which can be minimized when we're not building code.  Once you have things arranged the way you like you should save your perspective under Window -> 

To import a project go to File -> New -> Makefile Project with Existing Code.  For each of the following projects you'll need to select the folder location, name the project, and set the tool-chain to Linux GCC.  After creating projects you will also need to set their references to other projects.  Do this by right clicking on the project in the project explorer and selection properties, then select "project references" on the left.  

Some additional changes you should make in eclipse:

PATH=$PATH:/sbin

export DISTCC_HOSTS="192.168.1.100"
export DISTCC_POTENTIAL_HOSTS="192.168.1.100"
export CC="/usr/local/lib/distcc/arm-linux-gnueabi-gcc-4.4"
export CXX="/usr/local/lib/distcc/arm-linux-gnueabi-g++-4.4"

5) Rtklib
build:

~/third-party/rtklib/app/makeall.sh

Add as launch script: (for some reason this doesn't work when copy pasted - type in manually)

cd /etc/init.d
sudo ln -s /home/josh/third_party/josh_rtklib/start_silvana.sh start_silvana.sh
sudo ln -s /home/josh/third_party/josh_rtklib/start_rtkrcv.sh start_rtkrcv.sh
sudo update-rc.d start_silvana.sh defaults
sudo update-rc.d start_silvana.sh defaults

temp fixssh-keygen -t rsa
ssh keygen: ssh-copy-id -i ~/.ssh/id_rsa.pub remote-host 

remote host is the kayak

added chmod 777 /var/run/screen to rc.local
default compass update rate is 10Hz

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