Talk:LURCH - The autonomous wheelchair

D-Link router

ip: 192.168.0.100
User: admin
Pass: pcbricklurch

mac-address clonato all'interfaccia esterna: 00-40-63-eb-d1-a1 (pcbrick-03)

Wireless

SSID: lurch
channel: 6
WPA2 PSK: pcbricklurch

Fixed IPs

pcbrick-one 192.168.0.5 00-40-63-eb-d2-a2
pcbrick-03 192.168.0.3 00-40-63-eb-d1-a1
simone-desktop 192.168.0.1 00-02-72-52-04-a1
pcbrick-one 192.168.0.5 00-30-18-a2-aa-8e
simone-laptop 192.168.0.2 00-1f-3c-9c-66-f1

Planner

MSL library soruce + PQP source: Media:MSL.zip compiled on Ubuntu 8.10 with gcc 4.3.2

Software Installation [TODO: complete]

This guide is tested on Ubuntu 8.10, 9.04 and Xubuntu 8.10. GCC version in 4.3.

• Install the following packages:
  • qt3-dev-tools
  • qt4-dev-tools
  • build-essential
  • flex
  • bison
  • libjsw-dev
  • libboost-dev
  • libdc1394-13-dev
  • libgsl0-dev
  • libgtk2.0-dev
  • libncurses5-dev

If you want you can cut and paste this command line: sudo apt-get install ...

• Download this file: [TODO], which contains ARToolKitPlus Libraries

• • unpack it in /opt folder
  • go into /opt/ARToolKitPlus_2.1.1
  • export ARTKP=/opt/ARToolKitPlus_2.1.1
  • qmake
  • make
  • sudo make install

• download lurch-control.tar.gz
  • extract it in your home folder
  • make cleanall
  • make ROBOT=wheelchair MODULE=misc
  • make ROBOT=wheelchair
  • cd wheelchair
  • ln -s ../logExtract.sh ./
  • ln -s ../run.sh ./

• download lurch-wheelchair-standalone.tar.gz
  • extract it in your home folder
  • go into lurch-wheelchair-standalone/config
  • edit config.ini
    • replace line with hostname=airlab-blackbox with hostname=<yourhostname>
  • edit agent.ini
    • find and replace all "airlab-blackbox" with <yourhostname>

• download the server for simulation (you need sun-java6-jdk installed and Eclipse is suggested)

...

• from lurch-wheelchair-standalone
  • sudo ./run.sh