Ground Station Setup

Ground Station Setup

Ground station = development machine.

Overview

• Useful Software
• LCM
• IPython
• ROS

Useful Software

byobu

byobu is a terminal multiplexer.

$ byobu

• F2: New tab
• F3: Previous Tab
• F4: Next Tab
• F6: Detach

ssh

ssh lets you log into a robot over the network

$ ssh [email protected]

For keyed login:

$ ssh-keygen #if you do not have an existing key
$ ssh-copy-id [email protected]

this will allow you to use any ssh service without a password.

ping

ping lets you check network connectivity

$ ping 192.168.1.122

rsync

rsync can be used to send your code to the robot.

$ rsync -avi . [email protected]:/home/bml/zumy

sshfs

sshfs lets you mount the robot's filesystem locally.

$ mkdir 122
$ sshfs [email protected]:/home/bml 122
$ ls 122

LCM

Build & Setup Instructions

(copied from Making a Fresh Image)

1. Install LCM:

   see https://code.google.com/p/lcm/wiki/BuildInstructions and https://github.com/lcm-proj/lcm/blob/master/INSTALL

   $ sudo apt-get install build-essential libglib2.0-dev openjdk-6-jdk python-dev checkinstall autoconf autopoint libtool python-psutil
   $ sudo pip install psutil --upgrade
   $ wget https://github.com/lcm-proj/lcm/archive/v1.1.2.tar.gz
   $ tar xzvf v1.1.2.tar.gz
   $ cd lcm-1.1.2
   $ ./bootstrap.sh
   $ ./configure
   $ make -j4
   $ sudo checkinstall (install package as lcm)
   $ sudo ldconfig

2. Configure Your Networking for LCM:

   When using more than one network interface, (ie. eth0 and wlan0), be sure to manually specify the route for the udp multicast address. For example:

   ajc@rektjc:~$ route
   Kernel IP routing table
   Destination     Gateway         Genmask         Flags Metric Ref    Use Iface
   default         10.10.64.1      0.0.0.0         UG    0      0        0 wlan0
   10.10.64.0      *               255.255.252.0   U     2      0        0 wlan0
   10.42.0.0       *               255.255.255.0   U     1      0        0 eth0
   link-local      *               255.255.0.0     U     1000   0        0 eth0
   192.168.1.0     *               255.255.255.0   U     2      0        0 wlan2
   192.168.56.0    *               255.255.255.0   U     0      0        0 vboxnet0
   239.255.76.67   *               255.255.255.255 UH    0      0        0 wlan2

   Setup in Network Manager: Right click Network Manager Applet > Edit Connections > Wireless > fearing-robonet > IPv4 Settings > Routes... > Add "Address"=239.255.76.67, "Netmask"=255.255.255.255, leave "Gateway" and "Metric" blank. "Use this connection only for resources on its network" works if you want to connect to the internet with another interface.

3. Copy lcm.jar to zumy:

   cp lcm-1.1.2/lcm.jar zumy/

This will enable packet inspection.

Useful Scripts

lcm_spy.sh: lcm packet introspection.

$ lcm_spy.sh

gen_types.sh: autogenerate marshalling code for types in the types directory

$ gen_types.sh

IPython

$ sudo apt-get install ipython-notebook python-dev python-pip # gets dependencies for ipython notebook
$ sudo pip install ipython[notebook] --upgrade  # upgrades ipython notebook to latest version
$ ipython notebook                # runs ipython-notebook

ROS

http://wiki.ros.org/indigo/Installation/Ubuntu