roboticsprimer-users

Re: [Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

> 1) how can I get this last link to work?

I think this question can be better answered at the official Player/ 
Stage mailing list.

> 2)I still haven't been able to find out how to transport whatever I  
> get from this process to the gumstix. There used to be a uucp in  
> the old days but that doesn't seem to be supported. I guess scp  
> does the same but the documentation leaves something to be desired!  
> could someone supply the command to do the copy?

If Player compiles successfully, you will get a binary called player  
(maybe) in /server. You need to SCP this binary to the Gumstix.

scp path_to_your_player_binary root@gumstix:~/player

> 3)what about the UCLIBC_HAS_FULL_RPC=y in gumstix-buildroot/ 
> uClibc.config.
> there is no file called uClibc.config in gumstix-buildroot but  
> there are a bunch for different target/device

If gumstix-buildroot compiled successfully, and your PATH was setup  
correctly, I don't think this line matters - I don't remember doing  
anything with it.

Make sure:

1. You are cross-compiling Player for ARM.
2. Shared libraries are disabled.
3. You included all the drivers your needed (create/roomba/laser/etc).

On Oct 9, 2007, at 9:32 AM, Robotics Primer users help list wrote:

> Hey, for a while I thought some thing would go smooth.
> I installed build-root from gumstix with ease (they are set up for  
> this stuff)
> and followed the instructions for cross-compiling down to where it  
> says set UCLIBC_HAS_FULL_RPC=y in gumstix-buildroot/uClibc.config
> there is no such file
> undeterred I did the ./configure followed by the  sudo make which  
> ran for a long time
> but finally craped out with
> make[3]: Entering directory `/home/john/player-2.0.4/server'
> if g++ -DHAVE_CONFIG_H -I. -I. -I.. -I../libplayercore -I../ 
> client_libs/libplayerc++  -Wall -g -I.. -I../server -I./drivers/ 
> shell    -MT server.o -MD -MP -MF ".deps/server.Tpo" -c -o server.o  
> server.cc; \
>         then mv -f ".deps/server.Tpo" ".deps/server.Po"; else rm -f  
> ".deps/server.Tpo"; exit 1; fi
> /bin/bash ../libtool --tag=CXX --mode=link g++     -o player - 
> export-dynamic server.o -lm ../server/libplayerdrivers/ 
> libplayerdrivers.la ../libplayercore/libplayercore.la ../ 
> libplayercore/libplayererror.la ../libplayertcp/libplayertcp.la ../ 
> libplayerxdr/libplayerxdr.la    -lgsl -lgslcblas        - 
> ljpeg                                                                  
>              ../replace/libreplace.la -lpthread -lnsl -lrt  -lz - 
> lltdl -ldl -ljpeg -lGL -lGLU
> g++ -o .libs/player server.o -Wl,--export-dynamic  -lm ../server/ 
> libplayerdrivers/.libs/libplayerdrivers.so ../libplayercore/.libs/ 
> libplayercore.so ../libplayercore/.libs/libplayererror.so ../ 
> libplayertcp/.libs/libplayertcp.so ../libplayerxdr/.libs/ 
> libplayerxdr.so -lgsl -lgslcblas ../replace/.libs/libreplace.a - 
> lpthread -lnsl -lrt -lz /usr/lib/libltdl.so -ldl /usr/lib/ 
> libjpeg.so -lGL -lGLU -Wl,--rpath -Wl,/usr/local/lib
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `gdk_pixbuf_new_from_data'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `gdk_pixbuf_scale_simple'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `gdk_pixbuf_get_n_channels'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `gdk_pixbuf_get_rowstride'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `gdk_pixbuf_get_height'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `gdk_pixbuf_unref'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `gdk_pixbuf_get_bits_per_sample'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `gdk_pixbuf_get_width'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `gdk_pixbuf_new_from_file'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `g_assert_warning'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `g_type_init'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `g_object_unref'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `gdk_pixbuf_get_pixels'
> ../server/libplayerdrivers/.libs/libplayerdrivers.so: undefined  
> reference to `gdk_pixbuf_get_has_alpha'
> collect2: ld returned 1 exit status
> make[3]: *** [player] Error 1
> make[3]: Leaving directory `/home/john/player-2.0.4/server'
> make[2]: *** [all-recursive] Error 1
> make[2]: Leaving directory `/home/john/player-2.0.4/server'
> make[1]: *** [all-recursive] Error 1
> make[1]: Leaving directory `/home/john/player-2.0.4'
> make: *** [all] Error 2
> john@john-desktop:~/player-2.0.4$
>
> when I search on synaptic package manager I see i have gdk_imlib11  
> and gdk_imlib11_dev.
>
> whats happening?
>
> Questions
> 1) how can I get this last link to work?
> 2)I still haven't been able to find out how to transport whatever I  
> get from this process to the gumstix. There used to be a uucp in  
> the old days but that doesn't seem to be supported. I guess scp  
> does the same but the documentation leaves something to be desired!  
> could someone supply the command to do the copy?
> 3)what about the UCLIBC_HAS_FULL_RPC=y in gumstix-buildroot/ 
> uClibc.config.
> there is no file called uClibc.config in gumstix-buildroot but  
> there are a bunch for different target/device
>
>
> John Cummins
>
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[Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

Thanks for the update.
I think the core of my problem with terminology is that the code I write, which I think of as managing the create, actually runs on my desktop. Whereas the player code that I think of as managing the communication to the robot runs on the gumstix (robot to first degree approx). Thanks for your information on the process. It is dificult to get my mind around as I could link my code with some of the player library's and cross-compile it and  then the robot would be self contained and my code running on the robot.
I haven't done much today, the linker problem kinda stumped me.
I did notice that when I did the configure before the cross compile of player it said it had a roomba driver but I did not see any reference to create. can I use roomba?

John Cummins

       
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Re: [Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

If you downloaded an official release of Player, only the Roomba  
driver is included - the latest code in the CVS contains a new driver  
specifically for Create. I'm not sure what the difference is between  
the roomba/create drivers.

If you are planning to use the LED lights or the IR on the Create, I  
would suggest that you checkout the latest Player.

Jiuguang

On Oct 9, 2007, at 6:00 PM, Robotics Primer users help list wrote:

> Thanks for the update.
> I think the core of my problem with terminology is that the code I  
> write, which I think of as managing the create, actually runs on my  
> desktop. Whereas the player code that I think of as managing the  
> communication to the robot runs on the gumstix (robot to first  
> degree approx). Thanks for your information on the process. It is  
> dificult to get my mind around as I could link my code with some of  
> the player library's and cross-compile it and  then the robot would  
> be self contained and my code running on the robot.
> I haven't done much today, the linker problem kinda stumped me.
> I did notice that when I did the configure before the cross compile  
> of player it said it had a roomba driver but I did not see any  
> reference to create. can I use roomba?
>
> John Cummins
>
> Don't let your dream ride pass you by. Make it a reality with  
> Yahoo! Autos.
> ---------------------------------------------------------------------- 
> ---
> This SF.net email is sponsored by: Splunk Inc.
> Still grepping through log files to find problems?  Stop.
> Now Search log events and configuration files using AJAX and a  
> browser.
> Download your FREE copy of Splunk now >> http://get.splunk.com/ 
> _______________________________________________
> Roboticsprimer-users mailing list
> Rob...@li...
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[Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

Another day another problem.

I located the gdk_pixbuf package on the net and downloaded it
then ran

sudo make clean

followed by

./configure --build=x86-linux --host=arm-linux
sudo make

the make ran to the end and it did put a file called player in server
however it is a text file, looks like a script file. (text of player below)
I tried running sudo player but it just tells me it was made with 55 drivers

Questions
1) What should I do with this file? 
2) Do I need to do something with libtool before running make?


Player file is as follows:-
#! /bin/bash

# player - temporary wrapper script for .libs/player
# Generated by ltmain.sh - GNU libtool 1.5.22 Debian 1.5.22-2 (1.1220.2.365 2005/12/18 22:14:06)
#
# The player program cannot be directly executed until all the libtool
# libraries that it depends on are installed.
#
# This wrapper script should never be moved out of the build directory.
# If it is, it will not operate correctly.

# Sed substitution that helps us do robust quoting.  It backslashifies
# metacharacters that are still active within double-quoted strings.
Xsed='/bin/sed -e 1s/^X//'
sed_quote_subst='s/\([\\`\\"$\\\\]\)/\\\1/g'

# The HP-UX ksh and POSIX shell print the target directory to stdout
# if CDPATH is set.
(unset CDPATH) >/dev/null 2>&1 && unset CDPATH

relink_command="(cd /home/john/player-2.0.4/server; { test -z \"\${LIBRARY_PATH+set}\" || unset LIBRARY_PATH || { LIBRARY_PATH=; export LIBRARY_PATH; }; }; { test -z \"\${COMPILER_PATH+set}\" || unset COMPILER_PATH || { COMPILER_PATH=; export COMPILER_PATH; }; }; { test -z \"\${GCC_EXEC_PREFIX+set}\" || unset GCC_EXEC_PREFIX || { GCC_EXEC_PREFIX=; export GCC_EXEC_PREFIX; }; }; { test -z \"\${LD_RUN_PATH+set}\" || unset LD_RUN_PATH || { LD_RUN_PATH=; export LD_RUN_PATH; }; }; { test -z \"\${LD_LIBRARY_PATH+set}\" || unset LD_LIBRARY_PATH || { LD_LIBRARY_PATH=; export LD_LIBRARY_PATH; }; }; PATH=\"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/X11R6/bin\"; export PATH; g++ -o \$progdir/\$file server.o -Wl,--export-dynamic  -lm ../server/libplayerdrivers/.libs/libplayerdrivers.so ../libplayercore/.libs/libplayercore.so ../libplayercore/.libs/libplayererror.so ../libplayertcp/.libs/libplayertcp.so ../libplayerxdr/.libs/libplayerxdr.so -lgsl -lgslcblas
 ../replace/.libs/libreplace.a -lpthread -lnsl -lrt -lz /usr/lib/libltdl.so -ldl /usr/lib/libjpeg.so -lGL -lGLU -Wl,--rpath -Wl,/home/john/player-2.0.4/server/libplayerdrivers/.libs -Wl,--rpath -Wl,/home/john/player-2.0.4/libplayercore/.libs -Wl,--rpath -Wl,/home/john/player-2.0.4/libplayertcp/.libs -Wl,--rpath -Wl,/home/john/player-2.0.4/libplayerxdr/.libs -Wl,--rpath -Wl,/usr/local/lib)"

# This environment variable determines our operation mode.
if test "$libtool_install_magic" = "%%%MAGIC variable%%%"; then
  # install mode needs the following variable:
  notinst_deplibs=' ../server/libplayerdrivers/libplayerdrivers.la ../libplayercore/libplayercore.la ../libplayercore/libplayererror.la ../libplayertcp/libplayertcp.la ../libplayerxdr/libplayerxdr.la'
else
  # When we are sourced in execute mode, $file and $echo are already set.
  if test "$libtool_execute_magic" != "%%%MAGIC variable%%%"; then
    echo="echo"
    file="$0"
    # Make sure echo works.
    if test "X$1" = X--no-reexec; then
      # Discard the --no-reexec flag, and continue.
      shift
    elif test "X`($echo '\t') 2>/dev/null`" = 'X\t'; then
      # Yippee, $echo works!
      :
    else
      # Restart under the correct shell, and then maybe $echo will work.
      exec /bin/bash "$0" --no-reexec ${1+"$@"}
    fi
  fi

  # Find the directory that this script lives in.
  thisdir=`$echo "X$file" | $Xsed -e 's%/[^/]*$%%'`
  test "x$thisdir" = "x$file" && thisdir=.

  # Follow symbolic links until we get to the real thisdir.
  file=`ls -ld "$file" | /bin/sed -n 's/.*-> //p'`
  while test -n "$file"; do
    destdir=`$echo "X$file" | $Xsed -e 's%/[^/]*$%%'`

    # If there was a directory component, then change thisdir.
    if test "x$destdir" != "x$file"; then
      case "$destdir" in
      [\\/]* | [A-Za-z]:[\\/]*) thisdir="$destdir" ;;
      *) thisdir="$thisdir/$destdir" ;;
      esac
    fi

    file=`$echo "X$file" | $Xsed -e 's%^.*/%%'`
    file=`ls -ld "$thisdir/$file" | /bin/sed -n 's/.*-> //p'`
  done

  # Try to get the absolute directory name.
  absdir=`cd "$thisdir" && pwd`
  test -n "$absdir" && thisdir="$absdir"

  program=lt-'player'
  progdir="$thisdir/.libs"

  if test ! -f "$progdir/$program" || \
     { file=`ls -1dt "$progdir/$program" "$progdir/../$program" 2>/dev/null | /bin/sed 1q`; \
       test "X$file" != "X$progdir/$program"; }; then

    file="$$-$program"

    if test ! -d "$progdir"; then
      mkdir "$progdir"
    else
      rm -f "$progdir/$file"
    fi

    # relink executable if necessary
    if test -n "$relink_command"; then
      if relink_command_output=`eval $relink_command 2>&1`; then :
      else
    echo "$relink_command_output" >&2
    rm -f "$progdir/$file"
    exit 1
      fi
    fi

    mv -f "$progdir/$file" "$progdir/$program" 2>/dev/null ||
    { rm -f "$progdir/$program";
      mv -f "$progdir/$file" "$progdir/$program"; }
    rm -f "$progdir/$file"
  fi

  if test -f "$progdir/$program"; then
    if test "$libtool_execute_magic" != "%%%MAGIC variable%%%"; then
      # Run the actual program with our arguments.

      exec "$progdir/$program" ${1+"$@"}

      $echo "$0: cannot exec $program ${1+"$@"}"
      exit 1
    fi
  else
    # The program doesn't exist.
    $echo "$0: error: \`$progdir/$program' does not exist" 1>&2
    $echo "This script is just a wrapper for $program." 1>&2
    echo "See the libtool documentation for more information." 1>&2
    exit 1
  fi
fi



       
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Re: [Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

Good morning, John,

The tutorial page that I sent you says that you also need to disable  
all drivers and include only the ones you want. So, you need to:

1. Disable all shared libraries by: --disable-shared
2. Disable all drivers: --disable-alldrivers
3. Enable Create/Roomba Driver by:  --enable-roomba (or  --enable- 
create)
4. Enable other drivers that you are using: --enable-urglaser (this  
is for a SICK laser).

This is to prevent the 55 driver nightmare.

The player file you got is most definitely the incorrect file - you  
are looking for a executable binary.

You're very close - keep it up.

Jiuguang

On Oct 10, 2007, at 11:12 AM, Robotics Primer users help list wrote:

> Another day another problem.
>
> I located the gdk_pixbuf package on the net and downloaded it
> then ran
>
> sudo make clean
>
> followed by
>
> ./configure --build=x86-linux --host=arm-linux
> sudo make
>
> the make ran to the end and it did put a file called player in server
> however it is a text file, looks like a script file. (text of  
> player below)
> I tried running sudo player but it just tells me it was made with  
> 55 drivers
>
> Questions
> 1) What should I do with this file?
> 2) Do I need to do something with libtool before running make?
>
>
> Player file is as follows:-
> #! /bin/bash
>
> # player - temporary wrapper script for .libs/player
> # Generated by ltmain.sh - GNU libtool 1.5.22 Debian 1.5.22-2  
> (1.1220.2.365 2005/12/18 22:14:06)
> #
> # The player program cannot be directly executed until all the libtool
> # libraries that it depends on are installed.
> #
> # This wrapper script should never be moved out of the build  
> directory.
> # If it is, it will not operate correctly.
>
> # Sed substitution that helps us do robust quoting.  It backslashifies
> # metacharacters that are still active within double-quoted strings.
> Xsed='/bin/sed -e 1s/^X//'
> sed_quote_subst='s/\([\\`\\"$\\\\]\)/\\\1/g'
>
> # The HP-UX ksh and POSIX shell print the target directory to stdout
> # if CDPATH is set.
> (unset CDPATH) >/dev/null 2>&1 && unset CDPATH
>
> relink_command="(cd /home/john/player-2.0.4/server; { test -z \"\$ 
> {LIBRARY_PATH+set}\" || unset LIBRARY_PATH || { LIBRARY_PATH=;  
> export LIBRARY_PATH; }; }; { test -z \"\${COMPILER_PATH+set}\" ||  
> unset COMPILER_PATH || { COMPILER_PATH=; export  
> COMPILER_PATH; }; }; { test -z \"\${GCC_EXEC_PREFIX+set}\" || unset  
> GCC_EXEC_PREFIX || { GCC_EXEC_PREFIX=; export  
> GCC_EXEC_PREFIX; }; }; { test -z \"\${LD_RUN_PATH+set}\" || unset  
> LD_RUN_PATH || { LD_RUN_PATH=; export LD_RUN_PATH; }; }; { test -z  
> \"\${LD_LIBRARY_PATH+set}\" || unset LD_LIBRARY_PATH ||  
> { LD_LIBRARY_PATH=; export LD_LIBRARY_PATH; }; }; PATH=\"/usr/local/ 
> sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/X11R6/bin\";  
> export PATH; g++ -o \$progdir/\$file server.o -Wl,--export-dynamic   
> -lm ../server/libplayerdrivers/.libs/libplayerdrivers.so ../ 
> libplayercore/.libs/libplayercore.so ../libplayercore/.libs/ 
> libplayererror.so ../libplayertcp/.libs/libplayertcp.so ../ 
> libplayerxdr/.libs/libplayerxdr.so -lgsl -lgslcblas ../ 
> replace/.libs/libreplace.a -lpthread -lnsl -lrt -lz /usr/lib/ 
> libltdl.so -ldl /usr/lib/libjpeg.so -lGL -lGLU -Wl,--rpath -Wl,/ 
> home/john/player-2.0.4/server/libplayerdrivers/.libs -Wl,--rpath - 
> Wl,/home/john/player-2.0.4/libplayercore/.libs -Wl,--rpath -Wl,/ 
> home/john/player-2.0.4/libplayertcp/.libs -Wl,--rpath -Wl,/home/ 
> john/player-2.0.4/libplayerxdr/.libs -Wl,--rpath -Wl,/usr/local/lib)"
>
> # This environment variable determines our operation mode.
> if test "$libtool_install_magic" = "%%%MAGIC variable%%%"; then
>   # install mode needs the following variable:
>   notinst_deplibs=' ../server/libplayerdrivers/ 
> libplayerdrivers.la ../libplayercore/libplayercore.la ../ 
> libplayercore/libplayererror.la ../libplayertcp/libplayertcp.la ../ 
> libplayerxdr/libplayerxdr.la'
> else
>   # When we are sourced in execute mode, $file and $echo are  
> already set.
>   if test "$libtool_execute_magic" != "%%%MAGIC variable%%%"; then
>     echo="echo"
>     file="$0"
>     # Make sure echo works.
>     if test "X$1" = X--no-reexec; then
>       # Discard the --no-reexec flag, and continue.
>       shift
>     elif test "X`($echo '\t') 2>/dev/null`" = 'X\t'; then
>       # Yippee, $echo works!
>       :
>     else
>       # Restart under the correct shell, and then maybe $echo will  
> work.
>       exec /bin/bash "$0" --no-reexec ${1+"$@"}
>     fi
>   fi
>
>   # Find the directory that this script lives in.
>   thisdir=`$echo "X$file" | $Xsed -e 's%/[^/]*$%%'`
>   test "x$thisdir" = "x$file" && thisdir=.
>
>   # Follow symbolic links until we get to the real thisdir.
>   file=`ls -ld "$file" | /bin/sed -n 's/.*-> //p'`
>   while test -n "$file"; do
>     destdir=`$echo "X$file" | $Xsed -e 's%/[^/]*$%%'`
>
>     # If there was a directory component, then change thisdir.
>     if test "x$destdir" != "x$file"; then
>       case "$destdir" in
>       [\\/]* | [A-Za-z]:[\\/]*) thisdir="$destdir" ;;
>       *) thisdir="$thisdir/$destdir" ;;
>       esac
>     fi
>
>     file=`$echo "X$file" | $Xsed -e 's%^.*/%%'`
>     file=`ls -ld "$thisdir/$file" | /bin/sed -n 's/.*-> //p'`
>   done
>
>   # Try to get the absolute directory name.
>   absdir=`cd "$thisdir" && pwd`
>   test -n "$absdir" && thisdir="$absdir"
>
>   program=lt-'player'
>   progdir="$thisdir/.libs"
>
>   if test ! -f "$progdir/$program" || \
>      { file=`ls -1dt "$progdir/$program" "$progdir/../$program" 2>/ 
> dev/null | /bin/sed 1q`; \
>        test "X$file" != "X$progdir/$program"; }; then
>
>     file="$$-$program"
>
>     if test ! -d "$progdir"; then
>       mkdir "$progdir"
>     else
>       rm -f "$progdir/$file"
>     fi
>
>     # relink executable if necessary
>     if test -n "$relink_command"; then
>       if relink_command_output=`eval $relink_command 2>&1`; then :
>       else
>     echo "$relink_command_output" >&2
>     rm -f "$progdir/$file"
>     exit 1
>       fi
>     fi
>
>     mv -f "$progdir/$file" "$progdir/$program" 2>/dev/null ||
>     { rm -f "$progdir/$program";
>       mv -f "$progdir/$file" "$progdir/$program"; }
>     rm -f "$progdir/$file"
>   fi
>
>   if test -f "$progdir/$program"; then
>     if test "$libtool_execute_magic" != "%%%MAGIC variable%%%"; then
>       # Run the actual program with our arguments.
>
>       exec "$progdir/$program" ${1+"$@"}
>
>       $echo "$0: cannot exec $program ${1+"$@"}"
>       exit 1
>     fi
>   else
>     # The program doesn't exist.
>     $echo "$0: error: \`$progdir/$program' does not exist" 1>&2
>     $echo "This script is just a wrapper for $program." 1>&2
>     echo "See the libtool documentation for more information." 1>&2
>     exit 1
>   fi
> fi
>
>
>
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[Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

attach this to my last e-mail

This behavior is the same  wither or not I have  disable=shared  as a parameter to
./configure or not.

The configure and make does say it is using roomba and a lot of laser stuff but nothing for
create do I have to copy something over from workbook so player can find it?

John Cummins
 

       
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[Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

Yes thank you I do feel close
I currently have player running on the gumstix

# ./player create.cfg
./player: ./player: 1: Syntax error: "(" unexpected
#

I get the above error what ever I put in create.cfg
I assume it can't parse the .cfg

Questions
1) what would a good .cfg look like?
2)is roomba the same as create for my purposes - getting some minimal behavior from the physical device?
3) Where do I find the create driver and how do I get the cross compiler to recognize it?

Thanks for your help

John Cummins

       
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Re: [Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

 From my previous email:

> If you downloaded an official release of Player, only the Roomba  
> driver is included - the latest code in the CVS contains a new  
> driver specifically for Create. I'm not sure what the difference is  
> between the roomba/create drivers.
>
> If you are planning to use the LED lights or the IR on the Create,  
> I would suggest that you checkout the latest Player.

My config.cfg file looks like:

driver
(
   name "create"
   provides ["position2d:0" "power:0" "bumper:0" "ir:0" "opaque:0"]
   port "/dev/ttyS2"
   safe 1
)

driver
(
   name "garminnmea"
   provides ["gps:0"]
   port "/dev/rfcomm1"
)

I think it's very unlikely that we'll have the same setup, so you  
have to make some changes to the create driver.


On Oct 10, 2007, at 12:16 PM, Robotics Primer users help list wrote:

> Yes thank you I do feel close
> I currently have player running on the gumstix
>
> # ./player create.cfg
> ./player: ./player: 1: Syntax error: "(" unexpected
> #
>
> I get the above error what ever I put in create.cfg
> I assume it can't parse the .cfg
>
> Questions
> 1) what would a good .cfg look like?
> 2)is roomba the same as create for my purposes - getting some  
> minimal behavior from the physical device?
> 3) Where do I find the create driver and how do I get the cross  
> compiler to recognize it?
>
> Thanks for your help
>
> John Cummins
>
> Shape Yahoo! in your own image. Join our Network Research Panel today!
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[Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

I can't get player on the gumstix to do anything other that this

# ./player create.cfg
./player: ./player: 1: Syntax error: "(" unexpected
# 

I am beginning to suspect that that is a loader error
the file is defiantly a  binary file but what format or what process or I don't know
but it doesn't seem to run on gumstix   

some oddities that might help to explain this are
1) the last instruction on cross compiling says to run 
arm-linux-strip
there is no such program on my machine
however the config says to use strip and that runs and reduces player from
660K to 230K. The same error occurs with either the striped  or non-striped version
2)The cross compile instructions say tools are in gumstix-buildroot/build_arm_nofpu/staging_dir/bin
there is no such directory
3)the configure seemed to find what it needed. In fact it said to use strip instead of  arm-linux-strip
this was the actual configure command
./configure --build=x86-linux --host=arm-linux --disable-shared --disable-alldrivers --enable-roomba --enable-urglaser
but I have tried it with every command listed in the cross compile document
and either make created a file like the one I sent last time or one that looks like it might be in a loader format (says ELF early on in the file)

Questions
1)Does any one know why player doesn't run on gumstix?
2)Is that error one that player produces? or one that linux produces as it tries to load player?
3) I would expect some sort of behavior like this  if the code was compiled for a different processor. Are you sure we can use the defaults?  How do I find  out which version of  the arm processor I am making for?
 
       
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Re: [Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

I see a few problem right here...

On Oct 10, 2007, at 6:11 PM, Robotics Primer users help list wrote:

> I can't get player on the gumstix to do anything other that this
>
> # ./player create.cfg
> ./player: ./player: 1: Syntax error: "(" unexpected
> #
>
> I am beginning to suspect that that is a loader error
> the file is defiantly a  binary file but what format or what  
> process or I don't know
> but it doesn't seem to run on gumstix
>
> some oddities that might help to explain this are
> 1) the last instruction on cross compiling says to run
> arm-linux-strip
> there is no such program on my machine
> however the config says to use strip and that runs and reduces  
> player from
> 660K to 230K. The same error occurs with either the striped  or non- 
> striped version
> 2)The cross compile instructions say tools are in gumstix-buildroot/ 
> build_arm_nofpu/staging_dir/bin
> there is no such directory

There must be one - otherwise you do not have a working arm-linux- 
gcc. Go back your gumstix-buildroot, and go from there.

Don't forget to setup the path.

> 3)the configure seemed to find what it needed. In fact it said to  
> use strip instead of  arm-linux-strip
> this was the actual configure command
> ./configure --build=x86-linux --host=arm-linux --disable-shared -- 
> disable-alldrivers --enable-roomba --enable-urglaser
> but I have tried it with every command listed in the cross compile  
> document
> and either make created a file like the one I sent last time or one  
> that looks like it might be in a loader format (says ELF early on  
> in the file)
>
> Questions
> 1)Does any one know why player doesn't run on gumstix?

I suspect the reason that it is not running is because you never  
actually cross-compiled it. If ./configure cannot find the gumstix- 
buildroot, it builds a regular binary for your desktop. Go back to  
the very beginning of your ./configure output - did it say that it  
found a cross compiler? Is it actually using it?

> 2)Is that error one that player produces? or one that linux  
> produces as it tries to load player?

Send me your .cfg file - I suspect that the syntax is incorrect.

> 3) I would expect some sort of behavior like this  if the code was  
> compiled for a different processor. Are you sure we can use the  
> defaults?  How do I find  out which version of the arm processor I  
> am making for?

Go back to the gumsix-buildroot page. There are very clear  
instructions on which version to get.

>
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[Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

I think you are right, its in the buildroot.
I have found a much mare detailed buildroot instruction that needs me to find out the version of the software on gumstix. And is now telling me I need to install bison, flex and
so on. so this seems quite promising.

my .cfg file is
driver                                                                          
(                                                                               
name "roomba"                                                                   
provides ["position2d:0"]                                                       
port "/dev/ttyS2"                                                               
alwayson 1                                                                      
)         

I am still having problems in the buildroot    currently its complaining about texinfo

I'll get back when I've sorted out the buildroot stuff

Thanks
John Cummins

       
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[Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

This is what I get now while trying to cross compile player

john@john-desktop:~/player-2.0.4$ sudo make install
Making install in replace
make[1]: Entering directory `/home/john/player-2.0.4/replace'
if /bin/bash ../libtool --tag=CC --mode=compile arm-linux-gcc -DHAVE_CONFIG_H -I. -I. -I.. -I../libplayercore -I../client_libs/libplayerc++     -g -O2 -MT dummy.lo -MD -MP -MF ".deps/dummy.Tpo" -c -o dummy.lo dummy.c; \
        then mv -f ".deps/dummy.Tpo" ".deps/dummy.Plo"; else rm -f ".deps/dummy.Tpo"; exit 1; fi
 arm-linux-gcc -DHAVE_CONFIG_H -I. -I. -I.. -I../libplayercore -I../client_libs/libplayerc++ -g -O2 -MT dummy.lo -MD -MP -MF .deps/dummy.Tpo -c dummy.c -o dummy.o
../libtool: line 1353: arm-linux-gcc: command not found
make[1]: *** [dummy.lo] Error 1
make[1]: Leaving directory `/home/john/player-2.0.4/replace'
make: *** [install-recursive] Error 1

but arm-linux-gcc is in the  PATH

 
john@john-desktop:~/player-2.0.4$  arm-linux-gcc
arm-linux-gcc: no input files
john@john-desktop:~/player-2.0.4$ 

arm-linux-gcc is in the path and can be found
BUT libtool doesn't find it

any ideas?

John Cummins


 
       
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[Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

No matter what I put in PATH or other environment variables the make install
would not find the arm-linux executables even though I could access them 
while not in make. Examining the Makefile did not enlighten me as to why.
So todays HORRIBLE HACK was to save the original /bin and then cp everything in staging_dir/bin to /bin. Hey, I don't like it either but if I don't try odd things I don't get anywhere with this.

Now the make install in player runs almost to the end finally terminating with

g++ -o player server.o -Wl,--export-dynamic  -lm ../server/libplayerdrivers/.libs/libplayerdrivers.a ../libplayercore/.libs/libplayercore.a ../libplayercore/.libs/libplayererror.a ../libplayertcp/.libs/libplayertcp.a /home/john/player-2.0.4/libplayercore/.libs/libplayercore.a /home/john/player-2.0.4/libplayerxdr/.libs/libplayerxdr.a ../libplayerxdr/.libs/libplayerxdr.a /home/john/player-2.0.4/libplayercore/.libs/libplayererror.a ../replace/.libs/libreplace.a -lpthread -lnsl -lrt -lz
/usr/bin/ld: ../server/libplayerdrivers/.libs/libplayerdrivers.a(roomba_comms.o): Relocations in generic ELF (EM: 40)
/usr/bin/ld: ../server/libplayerdrivers/.libs/libplayerdrivers.a(roomba_comms.o): Relocations in generic ELF (EM: 40)
/usr/bin/ld: ../server/libplayerdrivers/.libs/libplayerdrivers.a(roomba_comms.o): Relocations in generic ELF (EM: 40)
/usr/bin/ld: ../server/libplayerdrivers/.libs/libplayerdrivers.a(roomba_comms.o): Relocations in generic ELF (EM: 40)
/usr/bin/ld: ../server/libplayerdrivers/.libs/libplayerdrivers.a(roomba_comms.o): Relocations in generic ELF (EM: 40)
/usr/bin/ld: ../server/libplayerdrivers/.libs/libplayerdrivers.a(roomba_comms.o): Relocations in generic ELF (EM: 40)
../server/libplayerdrivers/.libs/libplayerdrivers.a: could not read symbols: File in wrong format
collect2: ld returned 1 exit status

Does any one recognise why ld doesn't like ELF?

Questions
1)why will make install not access the directorys that are in my PATH variable
when I execute make install?
2)is ld saying I compiled roomba_comms with the wrong options?

Any other Ideas, or even a nicer HORRIBLE HACK would be appreciated.
I will check out 2 this evening.

John Cummins

       
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Re: [Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

I'm can't tell you why the configure script cannot find arm-linux- 
gcc, but I will say that if putting the binaries in /local/usr/bin  
works, then something must be wrong with with PATH setup. Retrace  
your steps - after you edited .bashrc, did you restart all Terminals?  
Did you re-do ./configure? Did you see any "XXX not found" in the  
outputs?

Overall, copying the binaries over to /local/usr/bin is most  
definitely not going to work - arm-linux-gcc will be unable to find  
the libraries that it needs (unless you also copied a couple of  
hundred other directories, too).

Jiuguang

On Oct 11, 2007, at 9:09 AM, Robotics Primer users help list wrote:

> No matter what I put in PATH or other environment variables the  
> make install
> would not find the arm-linux executables even though I could access  
> them
> while not in make. Examining the Makefile did not enlighten me as  
> to why.
> So todays HORRIBLE HACK was to save the original /bin and then cp  
> everything in staging_dir/bin to /bin. Hey, I don't like it either  
> but if I don't try odd things I don't get anywhere with this.
>
> Now the make install in player runs almost to the end finally  
> terminating with
>
> g++ -o player server.o -Wl,--export-dynamic  -lm ../server/ 
> libplayerdrivers/.libs/libplayerdrivers.a ../libplayercore/.libs/ 
> libplayercore.a ../libplayercore/.libs/libplayererror.a ../ 
> libplayertcp/.libs/libplayertcp.a /home/john/player-2.0.4/ 
> libplayercore/.libs/libplayercore.a /home/john/player-2.0.4/ 
> libplayerxdr/.libs/libplayerxdr.a ../libplayerxdr/.libs/ 
> libplayerxdr.a /home/john/player-2.0.4/libplayercore/.libs/ 
> libplayererror.a ../replace/.libs/libreplace.a -lpthread -lnsl -lrt  
> -lz
> /usr/bin/ld: ../server/libplayerdrivers/.libs/libplayerdrivers.a 
> (roomba_comms.o): Relocations in generic ELF (EM: 40)
> /usr/bin/ld: ../server/libplayerdrivers/.libs/libplayerdrivers.a 
> (roomba_comms.o): Relocations in generic ELF (EM: 40)
> /usr/bin/ld: ../server/libplayerdrivers/.libs/libplayerdrivers.a 
> (roomba_comms.o): Relocations in generic ELF (EM: 40)
> /usr/bin/ld: ../server/libplayerdrivers/.libs/libplayerdrivers.a 
> (roomba_comms.o): Relocations in generic ELF (EM: 40)
> /usr/bin/ld: ../server/libplayerdrivers/.libs/libplayerdrivers.a 
> (roomba_comms.o): Relocations in generic ELF (EM: 40)
> /usr/bin/ld: ../server/libplayerdrivers/.libs/libplayerdrivers.a 
> (roomba_comms.o): Relocations in generic ELF (EM: 40)
> ../server/libplayerdrivers/.libs/libplayerdrivers.a: could not read  
> symbols: File in wrong format
> collect2: ld returned 1 exit status
>
> Does any one recognise why ld doesn't like ELF?
>
> Questions
> 1)why will make install not access the directorys that are in my  
> PATH variable
> when I execute make install?
> 2)is ld saying I compiled roomba_comms with the wrong options?
>
> Any other Ideas, or even a nicer HORRIBLE HACK would be appreciated.
> I will check out 2 this evening.
>
> John Cummins
>
> Looking for a deal? Find great prices on flights and hotels with  
> Yahoo! FareChase.
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[Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

I'm trying to run exercise 01 intro

on the gumstix I run ./player create.cfg which says

# ./player create.cfg

* Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public License.
* Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.

Opening connection to Roomba on /dev/ttyS2...Done.
Listening on ports: 6665 


Then on the build system I run ./intro create.xml and it says

john@john-desktop:~/roboticsprimer-0.1/exercises/01_introduction/gumstix$ ./intro client.xml
Loading config file[client.xml]
Trying to connect to [192.168.1.102:6665]
calling connect
done

then over on the gumstix it says

accepted client 0 on port 6665, fd 9
./player: can't resolve symbol 'xdrmem_create'

and player terminates

and on build system it says

playerc error   : recv failed with error [Success]
warning : failed to reconnect
playerc error   : failed to get response
terminate called after throwing an instance of 'PlayerCc::PlayerError'
Aborted (core dumped)
 presumably because player didn't get back to it


Questions
1) What does "./player: can't resolve symbol 'xdrmem_create'" indicate?
I have all the shared librarys ldd says player needs in /lib


John Cummins
 
       
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Re: [Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

Player requires full the full RPC implementation. The default gumstix
system does not have these features. Here is a guide on how to build
an appropriate toolchain:

http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__tutorial__crosscompiling.html

-nate

On 10/15/07, Robotics Primer users help list
<rob...@li...> wrote:
> I'm trying to run exercise 01 intro
>
> on the gumstix I run ./player create.cfg which says
>
> # ./player create.cfg
>
> * Part of the Player/Stage/Gazebo Project
> [http://playerstage.sourceforge.net].
> * Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew Howard,
> * Nate Koenig, and contributors. Released under the GNU General Public
> License.
> * Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
> * are welcome to redistribute it under certain conditions; see COPYING
> * for details.
>
> Opening connection to Roomba on /dev/ttyS2...Done.
> Listening on ports: 6665
>
>
> Then on the build system I run ./intro create.xml and it says
>
> john@john-desktop:~/roboticsprimer-0.1/exercises/01_introduction/gumstix$
> ./intro client.xml
> Loading config file[client.xml]
> Trying to connect to [192.168.1.102:6665]
> calling connect
> done
>
> then over on the gumstix it says
>
> accepted client 0 on port 6665, fd 9
> ./player: can't resolve symbol 'xdrmem_create'
>
> and player terminates
>
> and on build system it says
>
> playerc error   : recv failed with error [Success]
> warning : failed to reconnect
> playerc error   : failed to get response
> terminate called after throwing an instance of 'PlayerCc::PlayerError'
> Aborted (core dumped)
>  presumably because player didn't get back to it
>
>
> Questions
> 1) What does "./player: can't resolve symbol 'xdrmem_create'" indicate?
> I have all the shared librarys ldd says player needs in /lib
>
>
> John Cummins
>
>
>  ________________________________
> Building a website is a piece of cake.
> Yahoo! Small Business gives you all the tools to get online.
>
>
> -------------------------------------------------------------------------
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>
>

[Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

Hi,

I am interested in using this option. The intro page [
http://roboticsprimer.sourceforge.net/workbook/Introduction:iRobot_Create/Roomba_and_Gumstix]
describes how to connect the gumstix to the Create, but there's nothing on
how to power the gumstix and robostix. Does this really work?

Anna

Re: [Roboticsprimer-users] iCreate/gumstix

[Robotics P. u. h. l. <rob...@li...>]

You can power the gumstix and other addon boards (wifistix/robostix)  
directly from the Create's batteries. You might need a DC-DC voltage  
converter to step the voltage down (from 12V to 5V).

Jiuguang

On Apr 20, 2008, at 7:30 PM, Robotics Primer users help list wrote:

> Hi,
>
> I am interested in using this option. The intro page [http://roboticsprimer.sourceforge.net/workbook/Introduction:iRobot_Create/Roomba_and_Gumstix 
> ] describes how to connect the gumstix to the Create, but there's  
> nothing on how to power the gumstix and robostix. Does this really  
> work?
>
> Anna
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