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Comment: Migration of unmigrated content due to installation of a new plugin

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.

Code Block

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 libxinerama-dev fluid default-jre libblas-dev gpsdrsync libgmp3-dev

2) Downloads:

Code Block

cd ~/
svn co https://mv-ezproxy-com.ezproxyberklee.flo.org/svn/moos-ivp-aro/releases/moos-ivp-13.25 moos-ivp
cd ~/
bzr co lp:goby/2.0 goby
cd goby
sudo ./DEPENDENCIES debian
cd ~/ 
svn checkout https://hovergroup.googlecode.com/svn/trunk/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:

Code Block

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 -j2
cd ../MOOSEssentials
cmake .
make -j2
cd ../MOOSGeodesy
cmake .
make -j2
cd ../MOOSToolsUI
cmake -D BUILD_GRAPHICAL_TOOLS=OFF .
distcc-pump make -j2

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

cd ~/moos-ivp/ivp/src
cmake -D IVP_BUILD_GUI_CODE=OFF .
distcc-pump make -j2

cd ~/goby
cmake -D build_apps=OFF -D build_moos=OFF .
make -j2
cd ~/hovergroup-extend/trunk
./build_proto.sh
cmake -D BOOST_146=ON -D BUILD_SHORE_APPS=OFF .
make -j2
cd ~/hovergroup-extend/josh
./build_proto.sh
cmake -D BUILD_SHORE_APPS=OFF .
make -j2

4) Remove hotplug scripts for gpsd and configure for autostartBashrc:

Code Block

sudo update-rc.d gpsd remove

more stuff here.

5) Configure by editing the /etc/ntp.conf configuration file with the following lines: (this information should also be avilable on the gpsd man page)

Code Block

server 127.127.28.0 minpoll 4 maxpoll 4
fudge 127.127.28.0 time1 0.420 refid GPS

server 127.127.28.1 minpoll 4 maxpoll 4 prefer
fudge 127.127.28.1 refid GPS1

The first line just uses serial data from the gps while the second adds information from the pps line. The "0.420" is an offset to try to correct for delays in the serial comms.  Restart the ntp service and verify functionality.  

Code Block

/etc/init.d/ntp restart
ntpq -p

asdflj

Testing gpsd:

For debugging purposes gpsd can be run in the foreground with:

Code Block

gpsd -nN -D9 /dev/ttyUSB0

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=${HOME_DIR}/hovergroup-extend
PATH=$PATH:${HOVERGROUP_DIR}/trunk/bin

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:

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

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

Code Block
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 10HzThe -n flag is needed to provide ntpd with updates even when a client isn't connected.  Drop the -N flag to start in the background.