Difference between revisions of "How to use the real e-pucks with Aseba"
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Manubrambi (talk | contribs) |
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In order to use the e-puck with Aseba you need to complete several steps: [tested on Ubuntu 9.10 - March 2010] |
In order to use the e-puck with Aseba you need to complete several steps: [tested on Ubuntu 9.10 - March 2010] |
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+ | |||
+ | First of all you need to retrieve all the necessary files from the svn repository: |
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==== Download, compile and patch Dashel (v.127) and Aseba (v. 381) ==== |
==== Download, compile and patch Dashel (v.127) and Aseba (v. 381) ==== |
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''Step-by-step solution:'' |
''Step-by-step solution:'' |
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* DASHEL |
* DASHEL |
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− | + | :* download Dashel v. 127 |
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− | + | svn -r127 co http://svn.gna.org/svn/dashel/trunk dashel |
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− | + | :* patch it - (TODO this is necessary because... ) |
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− | + | cd dashel |
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− | + | patch -p0 < dashel_with_fpic_r127.patch |
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− | + | :* compile it |
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− | + | cmake . |
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− | + | make |
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− | + | :* install it in /usr/local (you can avoid this but then you need to modify the CMakeLists.txt in Aseba) |
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− | + | sudo make install |
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* ASEBA |
* ASEBA |
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− | + | :* download Aseba v. 381 |
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− | + | svn -r381 co http://svn.gna.org/svn/aseba/trunk aseba |
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− | + | :* patch it - (this is necessary in order to make Aseba communicate with the simulator ) |
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− | + | cd aseba |
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− | + | patch -p0 < aseba_complete_r381.patch |
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− | + | :* compile it |
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− | + | cmake . |
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− | + | make |
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− | + | :* install it in /usr/local |
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− | + | sudo make install |
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− | + | :* test if it works |
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− | + | cd studio |
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− | + | ./studio |
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− | + | :* a window should appear. You are not able to connect now, it's normal |
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Now you should have Aseba working under your system ready to communicate with the simulator and the real e-pucks |
Now you should have Aseba working under your system ready to communicate with the simulator and the real e-pucks |
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+ | |||
+ | ==== Bluetooth Configuration ==== |
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+ | |||
+ | * bluetooth/rfcomm.conf has to be copied in /etc/bluetooth |
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+ | * bluetooth/passwords/ has to be copied in /etc/bluetooth |
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+ | * bluetooth/90-local.rules has to be copied in /etc/udev/rules.d/ |
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+ | |||
+ | now you have to restart the services |
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+ | sudo /etc/init.d/bluetooth stop |
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+ | sudo /etc/init.d/udev restart (or sudo restart udev) |
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+ | sudo /etc/init.d/bluetooth start |
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+ | |||
+ | check if in /dev/ there are some files called rfcomm**, if not do: |
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+ | sudo rfcomm bind all |
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+ | |||
+ | you should now have all the necessary files to connect to the robots. |
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+ | |||
+ | |||
+ | NOTE: |
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+ | The above files have been created by us and are not complete. This means that if you want to use an e-puck that is not in the list you should add it. |
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+ | |||
+ | To do that you have to first get the MAC address of the epuck you want to add: turn on the selected e-puck and do: |
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+ | hcitool scan |
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+ | modify rfcomm.conf and 90-local.rules using the existing lines as examples. |
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+ | |||
+ | As a last step you need to add the password file in the passkeys directory. Go in /etc/bluetooth/passwords/ and do (with the correct epuck number and MAC): |
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+ | echo 'epuck_1442' > '08:00:17:2D:1A:15' |
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+ | |||
+ | Once you have done this please update the corresponding file in the svn. Eventually we will be able to have the complete list for all the e-pucks (or, at least, the most used ones) |
Revision as of 18:37, 10 March 2010
In order to use the e-puck with Aseba you need to complete several steps: [tested on Ubuntu 9.10 - March 2010]
First of all you need to retrieve all the necessary files from the svn repository:
Download, compile and patch Dashel (v.127) and Aseba (v. 381)
Fast solution:
- use the script done by Arne (TODO put the path)
Step-by-step solution:
- DASHEL
- download Dashel v. 127
svn -r127 co http://svn.gna.org/svn/dashel/trunk dashel
- patch it - (TODO this is necessary because... )
cd dashel patch -p0 < dashel_with_fpic_r127.patch
- compile it
cmake . make
- install it in /usr/local (you can avoid this but then you need to modify the CMakeLists.txt in Aseba)
sudo make install
- ASEBA
- download Aseba v. 381
svn -r381 co http://svn.gna.org/svn/aseba/trunk aseba
- patch it - (this is necessary in order to make Aseba communicate with the simulator )
cd aseba patch -p0 < aseba_complete_r381.patch
- compile it
cmake . make
- install it in /usr/local
sudo make install
- test if it works
cd studio ./studio
- a window should appear. You are not able to connect now, it's normal
Now you should have Aseba working under your system ready to communicate with the simulator and the real e-pucks
Bluetooth Configuration
- bluetooth/rfcomm.conf has to be copied in /etc/bluetooth
- bluetooth/passwords/ has to be copied in /etc/bluetooth
- bluetooth/90-local.rules has to be copied in /etc/udev/rules.d/
now you have to restart the services
sudo /etc/init.d/bluetooth stop sudo /etc/init.d/udev restart (or sudo restart udev) sudo /etc/init.d/bluetooth start
check if in /dev/ there are some files called rfcomm**, if not do:
sudo rfcomm bind all
you should now have all the necessary files to connect to the robots.
NOTE:
The above files have been created by us and are not complete. This means that if you want to use an e-puck that is not in the list you should add it.
To do that you have to first get the MAC address of the epuck you want to add: turn on the selected e-puck and do:
hcitool scan
modify rfcomm.conf and 90-local.rules using the existing lines as examples.
As a last step you need to add the password file in the passkeys directory. Go in /etc/bluetooth/passwords/ and do (with the correct epuck number and MAC):
echo 'epuck_1442' > '08:00:17:2D:1A:15'
Once you have done this please update the corresponding file in the svn. Eventually we will be able to have the complete list for all the e-pucks (or, at least, the most used ones)