How to use the real e-pucks with Aseba

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