Install Groovy on the KIPR Link from Source

This page shows how-to install ROS Groovy Galapagos on the KIPR Link robot controller.

This guide shows how-to installing Groovy and its dependencies from source on the KIPR Link.

Setup the KIPR Link

1. Update the KIPR Link Firmware

This step is optional. However you might face some issues if you have another firmware running than 2.0.3 or if you run a modified version of 2.0.3.

To update the firmware to version 2.0.3 follow these instructions.

2. Setup the WIFI and connect to the Link

Boot the Link and enable and setup WIFI in [Settings] > [Network] and connect to a wireless network. Then log in to the Link via SSH. An example for IP 192.168.0.1:

ssh root@192.168.0.1

3. Set Date and Time

Set /etc/localtime to the correct time zome. An example for PST:

root@kovan:~# ln -sf /usr/share/zoneinfo/America/Los_Angeles /etc/localtime

Set the date and time using the date command. An example for 10/31/2013 2:00 pm

root@kovan:~# date 103114002013
Thu Oct 31 14:00:00 PDT 2013

Note: Switching off the KIPR Link will reset the system time so you have to set it again.

Prepare the USB Flash Drive

The KIPR Link doesn't provide neither enough on-board memory nor RAM to compile or store the ROS or its dependencies. We can avoid this limitation by extending the memory with an USB flash drive. This guide is tested with an 8GB drive.

1. Install mke2fs

root@kovan:~# opkg install http://netv.bunnie-bar.com/build/kovan-debug/LATEST/armv5te/e2fsprogs-mke2fs_1.42-r2_armv5te.ipk

2. Partition the USB Flash Drive

We partition the flash drive into a 6GB (used for data) partition and a 2GB partition (used for swap) using cfdisk

root@kovan:~# cfdisk /dev/sda

                           cfdisk (util-linux 2.20.1)

                              Disk Drive: /dev/sda
                        Size: 8004304896 bytes, 8004 MB
              Heads: 247   Sectors per Track: 62   Cylinders: 1020

    Name        Flags      Part Type  FS Type          [Label]        Size (MB)
 ------------------------------------------------------------------------------
    sda1                    Primary   Linux                             6147.17
    sda2                    Primary   Linux                             1857.15*

3. Format the Data Partition

root@kovan:~# mkfs -t ext4 /dev/sda1

4. Format and Enable the Swap Partition

root@kovan:~# mkswap /dev/sda2
root@kovan:~# swapon /dev/sda2

Note: Edit /etc/fstab to permanently enable the swap partition. Be aware that in this case the system will not boot if the USB flash drive is not inserted!

5. Having /usr/local and /opt on the USB device

root@kovan:~# mkdir -p /kovan/media/sda1/usr/local
root@kovan:~# ln -s /kovan/media/sda1/usr/local /usr/local
root@kovan:~# mkdir -p /kovan/media/sda1/opt
root@kovan:~# ln -s /kovan/media/sda1/opt /opt

ROS Prerequisites

1. Get wget and git with SSL support

1.1. Install wget

root@kovan:~# opkg install http://netv.bunnie-bar.com/build/kovan-debug/LATEST/armv5te/wget_1.13.4-r13.1_armv5te.ipk

1.2. Install curl

root@kovan:~# opkg install http://netv.bunnie-bar.com/build/kovan-debug/LATEST/armv5te/libcurl5_7.23.1-r0_armv5te.ipk
root@kovan:~# opkg install http://netv.bunnie-bar.com/build/kovan-debug/LATEST/armv5te/curl_7.23.1-r0_armv5te.ipk

1.3. Install CA certificates

root@kovan:~# mkdir -p /etc/ssl/certs

Add the following to the end of file /etc/profile

export SSL_CERT_DIR=/etc/ssl/certs

root@kovan:~# source /etc/profile
root@kovan:~# opkg install http://netv.bunnie-bar.com/build/kovan-debug/LATEST/armv5te/openssl-misc_1.0.0g-r15.0_armv5te.ipk
root@kovan:~# cd /etc/ssl/certs
root@kovan:/etc/ssl/certs# curl http://curl.haxx.se/ca/cacert.pem -o cacert.pem
root@kovan:/etc/ssl/certs# awk 'split_after==1{n++;split_after=0} /-----END CERTIFICATE-----/ {split_after=1} {print > "cert" n ".pem"}' cacert.pem
root@kovan:/etc/ssl/certs# for file in *.pem; do ln -s $file `openssl x509 -hash -noout -in $file`.0; done
root@kovan:/etc/ssl/certs# cd ~

1.4. Install git

root@kovan:~# opkg install http://netv.bunnie-bar.com/build/kovan-debug/LATEST/armv5te/git_1.7.7-r2_armv5te.ipk
root@kovan:~# git config --global http.sslcainfo /etc/ssl/certs/cacert.pem

2. Install Python

root@kovan:~# wget http://www.python.org/ftp/python/2.7.3/Python-2.7.3.tgz
root@kovan:~# tar xf Python-2.7.3.tgz
root@kovan:~# cd Python-2.7.3/
root@kovan:~/Python-2.7.3# ./configure
root@kovan:~/Python-2.7.3# make
root@kovan:~/Python-2.7.3# make install
root@kovan:~/Python-2.7.3# cd ..
root@kovan:~# rm -r Python-2.7.3
root@kovan:~# rm Python-2.7.3.tgz

3. Install setuptools

root@kovan:~# wget https://pypi.python.org/packages/2.7/s/setuptools/setuptools-0.6c11-py2.7.egg
root@kovan:~# sh setuptools-0.6c11-py2.7.egg
root@kovan:~# rm setuptools-0.6c11-py2.7.egg

4. Install pip

root@kovan:~# wget https://raw.github.com/pypa/pip/master/contrib/get-pip.py
root@kovan:~# python get-pip.py
root@kovan:~# rm get-pip.py

5. Install OpenMPI

root@kovan:~# wget http://www.open-mpi.org/software/ompi/v1.6/downloads/openmpi-1.6.3.tar.bz2
root@kovan:~# tar xf openmpi-1.6.3.tar.bz2
root@kovan:~# cd openmpi-1.6.3
root@kovan:~/openmpi-1.6.3# ./configure
root@kovan:~/openmpi-1.6.3# make all
root@kovan:~/openmpi-1.6.3# make install
root@kovan:~/openmpi-1.6.3# cd ..
root@kovan:~# rm -r openmpi-1.6.3
root@kovan:~# rm openmpi-1.6.3.tar.bz2

6. Install Boost

root@kovan:~# wget http://downloads.sourceforge.net/project/boost/boost/1.55.0/boost_1_55_0.tar.gz
root@kovan:~# tar xf boost_1_55_0.tar.gz

root@kovan:~# cd boost_1_55_0/
root@kovan:~/boost_1_55_0# ./bootstrap.sh --prefix=/usr/local
root@kovan:~/boost_1_55_0# cp tools/build/v2/user-config.jam user-config.jam

Add the line

using mpi ;

to the file user-config.jam

root@kovan:~/boost_1_55_0# ./b2 --user-config=user-config.jam
root@kovan:~/boost_1_55_0# ./b2 --user-config=user-config.jam install
root@kovan:~/boost_1_55_0# cd ..
root@kovan:~# rm -r boost_1_55_0
root@kovan:~# rm boost_1_55_0.tar.gz

7. Install CMake

root@kovan:~# wget http://www.cmake.org/files/v2.8/cmake-2.8.10.2.tar.gz
root@kovan:~# tar xf cmake-2.8.10.2.tar.gz
root@kovan:~# cd cmake-2.8.10.2
root@kovan:~/cmake-2.8.10.2# ./bootstrap
root@kovan:~/cmake-2.8.10.2# make
root@kovan:~/cmake-2.8.10.2# make install
root@kovan:~/cmake-2.8.10.2# cd ..
root@kovan:~# rm -r cmake-2.8.10.2
root@kovan:~# rm cmake-2.8.10.2.tar.gz

8. Install yaml-cpp

root@kovan:~# wget http://yaml-cpp.googlecode.com/files/yaml-cpp-0.5.0.tar.gz
root@kovan:~# tar xf yaml-cpp-0.5.0.tar.gz
root@kovan:~# cd yaml-cpp-0.5.0/build
root@kovan:~/yaml-cpp-0.5.0/build# cmake ..
root@kovan:~/yaml-cpp-0.5.0/build# make
root@kovan:~/yaml-cpp-0.5.0/build# make install
root@kovan:~/yaml-cpp-0.5.0/build# cd ../..
root@kovan:~# rm -r yaml-cpp-0.5.0
root@kovan:~# rm yaml-cpp-0.5.0.tar.gz

9. Install EmPy

root@kovan:~# pip install -U empy

10. Install nose

root@kovan:~# pip install -U nose

11. Install TinyXml

root@kovan:~# wget http://iweb.dl.sourceforge.net/project/tinyxml/tinyxml/2.6.2/tinyxml_2_6_2.zip
root@kovan:~# unzip tinyxml_2_6_2.zip
root@kovan:~# cd tinyxml

Add the lines to the files tinyxml.h and tinystr.h

#ifndef TIXML_USE_STL
#define TIXML_USE_STL
#endif

Change in the file Makefile

TINYXML_USE_STL := NO

to

TINYXML_USE_STL := YES

root@kovan:~/tinyxml# make
root@kovan:~/tinyxml# gcc -shared -o libtinyxml.so *.o
root@kovan:~/tinyxml# cp libtinyxml.so /usr/local/lib/
root@kovan:~/tinyxml# cp tinyxml.h /usr/local/include/
root@kovan:~/tinyxml# cp tinystr.h /usr/local/include/
root@kovan:~/tinyxml# cd ..
root@kovan:~# rm -r tinyxml
root@kovan:~# rm tinyxml_2_6_2.zip

12. Install Apache Portable Runtime

root@kovan:~# wget http://mirror.cc.columbia.edu/pub/software/apache//apr/apr-1.5.1.tar.bz2
root@kovan:~# tar xf apr-1.5.1.tar.bz2
root@kovan:~# cd apr-1.5.1
root@kovan:~/apr-1.5.1# ./configure
root@kovan:~/apr-1.5.1# make
root@kovan:~/apr-1.5.1# make install
root@kovan:~/apr-1.5.1# cd ..
root@kovan:~# rm -r apr-1.5.1
root@kovan:~# rm apr-1.5.1.tar.bz2

13. Install APR-util

root@kovan:~# wget http://mirror.cc.columbia.edu/pub/software/apache//apr/apr-util-1.5.3.tar.bz2
root@kovan:~# tar xf apr-util-1.5.3.tar.bz2
root@kovan:~# cd apr-util-1.5.3
root@kovan:~/apr-util-1.5.3# ./configure --with-apr=/usr/local/apr
root@kovan:~/apr-util-1.5.3# make
root@kovan:~/apr-util-1.5.3# make install
root@kovan:~/apr-util-1.5.3# cd ..
root@kovan:~# rm -r apr-util-1.5.3
root@kovan:~# rm apr-util-1.5.3.tar.bz2

14. Install Apache logging services

root@kovan:~# wget http://apache.mirrors.hoobly.com/logging/log4cxx/0.10.0/apache-log4cxx-0.10.0.zip
root@kovan:~# unzip apache-log4cxx-0.10.0.zip
root@kovan:~# cd apache-log4cxx-0.10.0

Add the following line to the files src/main/cpp/inputstreamreader.cpp, src/main/cpp/socketoutputstream.cpp and src/examples/cpp/console.cpp

#include <string.h>

Add the following line to the file src/examples/cpp/console.cpp

#include <stdio.h>

root@kovan:~/apache-log4cxx-0.10.0# chmod u+x configure
root@kovan:~/apache-log4cxx-0.10.0# ./configure
root@kovan:~/apache-log4cxx-0.10.0# make
root@kovan:~/apache-log4cxx-0.10.0# make install
root@kovan:~/apache-log4cxx-0.10.0# cd ..
root@kovan:~# rm -r apache-log4cxx-0.10.0
root@kovan:~# rm apache-log4cxx-0.10.0.zip

15. Install GTest

root@kovan:~# cd /usr/src/
root@kovan:/usr/src# wget http://googletest.googlecode.com/files/gtest-1.7.0.zip
root@kovan:/usr/src# unzip gtest-1.7.0.zip
root@kovan:/usr/src# mv gtest-1.7.0 gtest
root@kovan:/usr/src# rm -r gtest-1.7.0.zip
root@kovan:/usr/src# cd ~

16. Install netifaces

root@kovan:~# pip install -U netifaces

Install ROS Groovy Galapagos

1. Install wstool

root@kovan:~# pip install -U wstool

2. Install rosdep

root@kovan:~# pip install -U rosdep
root@kovan:~# rosdep init
root@kovan:~# rosdep update

3. Install catkin_pkg

root@kovan:~# pip install -U catkin_pkg

4. Install rosinstall_generator

root@kovan:~# pip install -U rosinstall_generator

5. Build the catkin Packages

5.1. Create a catkin Workspace

root@kovan:~# mkdir /kovan/media/sda1/ros_catkin_ws
root@kovan:~# cd /kovan/media/sda1/ros_catkin_ws

5.2. Fetch the core packages with rosinstall_generator and wstool

root@kovan:/kovan/media/sda1/ros_catkin_ws# rosinstall_generator ros_comm --rosdistro groovy --deps --wet-only > groovy-ros_comm-wet.rosinstall
root@kovan:/kovan/media/sda1/ros_catkin_ws# wstool init -j8 src groovy-ros_comm-wet.rosinstall

Note: If you get error messages likeError processing <...> Checkout of <...> into <...> failed., try to update the work space with

root@kovan:/kovan/media/sda1/ros_catkin_ws# wstool update -t src/

5.3. Adapt some sources

Change in file src/catkin/cmake/platform/lsb.cmake

  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -si
    OUTPUT_VARIABLE LSB_DISTRIB_ID
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  string(TOUPPER ${LSB_DISTRIB_ID} v)
  set(${v} TRUE CACHE BOOL "LSB Distrib tag")

  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -sd
    OUTPUT_VARIABLE LSB_DESCRIPTION
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -sr
    OUTPUT_VARIABLE LSB_RELEASE
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -sc

into

  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -s -i
    OUTPUT_VARIABLE LSB_DISTRIB_ID
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  string(TOUPPER ${LSB_DISTRIB_ID} v)
  set(${v} TRUE CACHE BOOL "LSB Distrib tag")

  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -s -d
    OUTPUT_VARIABLE LSB_DESCRIPTION
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -s -r
    OUTPUT_VARIABLE LSB_RELEASE
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -s -c

Change in the file src/rospack/CMakeLists.txt

target_link_libraries(rospack tinyxml ${Boost_LIBRARIES} ${PYTHON_LIBRARIES})

to

target_link_libraries(rospack tinyxml ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} dl util)

Change in the file src/ros_comm/roscpp/src/libros/service_server_link.cpp

  uint32_t len = *((uint32_t*)(buffer.get() + 1));

to

#if defined(__arm__) || defined(__arm)
  uint32_t len;

  memcpy(&len, buffer.get() + 1, sizeof(uint32_t));
#else
  uint32_t len = *((uint32_t*)(buffer.get() + 1));
#endif

5.4. Compile and Install ROS

root@kovan:/kovan/media/sda1/ros_catkin_ws# ./src/catkin/bin/catkin_make_isolated --install --install-space /opt/ros/groovy -DCMAKE_BUILD_TYPE=Release

5.5. Clean-up

root@kovan:/kovan/media/sda1/ros_catkin_ws# cd ..
root@kovan:/kovan/media/sda1# rm -r ros_catkin_ws/
root@kovan:/kovan/media/sda1# cd ~

6. Adapt setup.bash

Add to the file /opt/ros/groovy/setup.bash

export ROS_IP=127.0.0.1
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

Install common_msgs, actionlib and the ros4link Package

1. Setup the Build Environment

root@kovan:~# source /opt/ros/groovy/setup.bash

2. Create a Catkin Workspace

root@kovan:~# mkdir -p ~/catkin_ws/src
root@kovan:~# cd ~/catkin_ws/src/
root@kovan:~/catkin_ws/src# catkin_init_workspace

3. Download Packages

root@kovan:~/catkin_ws/src# git clone git://github.com/ros/common_msgs.git
root@kovan:~/catkin_ws/src# cd common_msgs/
root@kovan:~/catkin_ws/src/common_msgs# git checkout groovy-devel
root@kovan:~/catkin_ws/src/common_msgs# cd ..
root@kovan:~/catkin_ws/src# git clone https://github.com/ros/actionlib.git
root@kovan:~/catkin_ws/src# cd actionlib/
root@kovan:~/catkin_ws/src/actionlib# git checkout groovy-devel
root@kovan:~/catkin_ws/src/actionlib# cd ..
root@kovan:~/catkin_ws/src# git clone https://code.google.com/p/ros4link.wrapper/
root@kovan:~/catkin_ws/src# mv ros4link.wrapper/* ./
root@kovan:~/catkin_ws/src# rm -r ros4link.wrapper/

4. Compile and Install Packages

root@kovan:~/catkin_ws/src# cd ..
root@kovan:~/catkin_ws# catkin_make -DCMAKE_INSTALL_PREFIX=/opt/ros/groovy install