How to use the real e-pucks with Aseba

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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]

First of all you need to retrieve all the necessary files from the svn repository.

Ask a user to Alessandro (alessandro (dot) stranieri (at) ulb (dot) ac (dot) be) and then do: 

svn checkout https://iridia-dev.ulb.ac.be/projects/epuck_files/svn

Download, compile and patch Dashel (v.127) and Aseba (v. 381)

Fast solution:

  • use the script done by Arne (TODO put the path)
    • copy patches/ and install_aseba.sh to a directory where you want all the files and run the script

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 < patches/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 < patches/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

[Optional] Upload the latest epuckaseba.hex

If you have modified the epuckaseba.c file (aseba/targets/e-puck) or you think that the e-puck does not have the correct file, you need to upload the epuckaseba.hex file on the robots.


Follow this instructions: How to connect to the robots via bluetooth and upload a file

Connect the robot to Aseba

open aseba and put as connection point "custom": 

ser:device=/dev/epuck_****

where **** is the number of the epuck

If everything is fine aseba should be opening up.

Note: if the left menu is not there, there is most probably a mismatch with the firmware on the e-puck or between your aseba version and the one used to compile the hex on the robot.


To upload a new firmware follow this guide: How to upload a new firmware on the e-puck



If you have any problem or question please send me an e-mail (mbrambilla@iridia.ulb.ac.be) or contact me personally

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