carmen

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Revision 13 as of 2007-07-05 05:22:51
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Revision 14 as of 2007-07-05 05:37:59
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== laser exitsts ==
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----

== laser exitsts ==
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* Successful ./configure == Successful ./configure ==
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= make =

* Once you get a successful ./configure, you can run make

----
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Now you should be ready to make. Good luck getting java to work. I ended up skipping over it because of these errors: I ended up skipping over java because of these errors:
Line 357: Line 361:
Try make again. You might need to install g++ at this point.

make[3]: g++: Command not found
Try make again. IPC requires g++ to be installed.

* make[3]: g++: Command not found

=== apt-get install g++ ===
Line 447: Line 453:
----
== SEGWAY ==

=== Robot numbers [*]: 1,2,3,4,5,6,7,8 ===
Line 513: Line 523:
make again, you might see this error message. === MAP-EDITOR requires gtk-config ===
=== apt-get install libgtk1.2-dev gdk-imlib-dev ===
Line 535: Line 547:
* apt-get install libgtk1.2-dev
* apt-get install gdk-imlib-dev
=== apt-get install libgtk1.2-dev ===
=== apt-get install gdk-imlib-dev ===
Line 564: Line 576:
* I don't know where it is looking for linkage.h or how to fix this error, but I have the pwc.ko module compiled on another platform so this is not a show stopper at the moment. ----

== linkage.h ===

=== QUICKCAM requires linkage.h ===

* I don't know how to fix this error, but I have the pwc.ko module compiled on another platform so this is not a show stopper at the moment.
Line 624: Line 642:
----

== skip camera ==
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== make ==
Line 999: Line 1023:
== RUN ==

http://carmen.sourceforge.net/images/carmen-logo-big.png

Carnegie Mellon Robot Navigation Toolkit http://carmen.sourceforge.net/

How-To Download, Install, and Make Carmen on Ubuntu 7.04

1. Download Carmen from SourceForge

http://downloads.sourceforge.net/carmen/carmen-0.6.6-beta.tgz?modtime=1178804560&big_mirror=0

Extract file with "tar -xzvf carmen<tab>"

Make symlink for yourself "ln -s carmen<tab> carmen"

2. Install following the Installation Guidelines http://carmen.sourceforge.net/getting_carmen.html

./configure will give you many errors. Here is how to correct most of them quick and dirty. Read below to see step by step how to arrive at these packages:

   1 apt-get install --yes --force-yes libgtk2.0-* libwrap0-deb  libjpeg-dev lib*zlib*  doxygen doxygen-doc doxygen-docs doxygen-gui swig swig-doc swig-examples g++  libgtk1.2-dev gdk-imlib-dev
   2 rm -rf laser
   3 ./configure --no-java

*Answer N to Python bindings

   1 Should Python Bindings be installed: [y/N] N

*Answer N to oldlaser (we want new laser)

   1 Should the old laser server be used instead of the new one: [y/N] N

*Accept all robots but SegWay

   1 Robot numbers [*]: 1,2,3,4,5,6,7,8
   2 Compiling base support for: pioneer rflex scout orc4 orc5

*Remove camera from Makefile packages


./configure

Address the output of ./configure piece by piece:

   1 ./configure 
   2 Using $CC as gcc...
   3 Found processor unknown.
   4 Congratulations. You are running Linux.
   5 Found kernel 2.6.20-16-generic.
   6 This doesn't look like SuSE!
   7 Searching for canlib... 
   8 Could not find Kvaser canlib header file. I looked for
   9 /usr/include/canlib.h
  10 but it does not seem to exist.
  11 
  12 Searching for GTK... not found. 
  13 I tried to execute pkg-config gtk+-2.0
  14 and got this response:
  15 
  16 Package gtk+-2.0 was not found in the pkg-config search path.
  17 Perhaps you should add the directory containing `gtk+-2.0.pc'
  18 to the PKG_CONFIG_PATH environment variable
  19 No package 'gtk+-2.0' found
  20 
  21 If you do not have graphics, CARMEN's display modules will not compile, but 
  22 all other modules should compile without problem. Please install gtk 2.0, 
  23 or re-run ./configure with --nographics.


Kvaser Canlib

   1 Could not find Kvaser canlib header file. I looked for
   2 /usr/include/canlib.h

Kvaser canlib.h can be found here: http://www.kvaser.com/download/index_developer.htm

tar -xzvf the archive and then copy canlib.h to appease ./configure cp ~/linuxcan_v2/include/canlib.h /usr/include/canlib.h


libraries and .h files

Now the .h files will need some libraries installed. First vi /etc/apt/source.list and uncomment the restricted universe repositories. Then apt-get update; apt-get install the following packages

gtk+-2.0 = apt-get install libgtk2.0-*

tcpd.h = apt-get install libwrap0-deb

jpeglib.h = apt-get install libjpeg-dev

zlib.h = apt-get install lib*zlib*

Wand = ?

Java = apt-get install j2sdk1.4

doxygen = apt-get install doxygen doxygen-doc doxygen-docs doxygen-gui

SWIG = apt-get install swig swig-doc swig-examples

* Typically only the -dev or lib packages are required, but why not get the docs and tools as well.


JAVA_HOME

give configure the environment variable it wants

"export JAVA_HOME=/usr"

   1 sub verify_java {
   2   my $error = undef;
   3 
   4   print "Searching for Java... ";
   5   if (defined $ENV{JAVA_HOME}) {
   6     if (-x "$ENV{JAVA_HOME}/bin/javac") {
   7       print "found\n";
   8       return $ENV{JAVA_HOME}
   9     }
  10     print<<EOF;
  11 ${red}not found${normal}.

* Even with this environment variable set and javac available, had to ./configure --nojava


laser exitsts

* Now you should be ready to ./configure again

   1 carmen/src# ./configure 
   2 Using $CC as gcc...
   3 Found processor unknown.
   4 Congratulations. You are running Linux.
   5 Found kernel 2.6.20-16-generic.
   6 This doesn't look like SuSE!
   7 Searching for canlib... Found canlib header at /usr/include/canlib.h
   8 Searching for GTK... found, version 2.10.11
   9 Searching for joystick... found at /usr/include/linux/joystick.h
  10 
  11 It looks like this is a system include, so I won't add it to the standard
  12 include path. Adding partial system include paths is usually a recipe for
  13 disaster. If this is the wrong thing to do, you could add the following
  14 line to Makefile.vars:
  15 JOYSTICK_INCLUDE = -I/usr/include/linux/joystick.h
  16 
  17 Searching for tcpd.h... found
  18 Looks like your system supports access control. Very good.
  19 Searching for jpeglib.h... found
  20 Searching for zlib.h... found
  21 Searching for Wand... not found
  22 Searching for Java... found
  23 Searching for doxygen... found
  24 Searching for SWIG... found
  25 Searching for Python... found
  26 Should Python Bindings be installed: [y/N] N
  27 Should the old laser server be used instead of the new one: [y/N] N
  28 ERROR: The directory called laser exitsts.

* This is just safeguarding to make sure you don't overwrite work

* If this is your first install, just delete the directory

   1 ERROR: The directory called laser exitsts.
   2 Please remove it and run configure again.
   3 
   4 carmen/src# ls -lr laser
   5 total 0
   6 carmen/src# rm -rf laser


Successful ./configure

   1 carmen/src# ./configure 
   2 Using $CC as gcc...
   3 Found processor unknown.
   4 Congratulations. You are running Linux.
   5 Found kernel 2.6.20-16-generic.
   6 This doesn't look like SuSE!
   7 Searching for canlib... Found canlib header at /usr/include/canlib.h
   8 Searching for GTK... found, version 2.10.11
   9 Searching for joystick... found at /usr/include/linux/joystick.h
  10 
  11 It looks like this is a system include, so I won't add it to the standard
  12 include path. Adding partial system include paths is usually a recipe for
  13 disaster. If this is the wrong thing to do, you could add the following
  14 line to Makefile.vars:
  15 JOYSTICK_INCLUDE = -I/usr/include/linux/joystick.h
  16 
  17 Searching for tcpd.h... found
  18 Looks like your system supports access control. Very good.
  19 Searching for jpeglib.h... found
  20 Searching for zlib.h... found
  21 Searching for Wand... not found
  22 Searching for Java... found
  23 Searching for doxygen... found
  24 Searching for SWIG... found
  25 Searching for Python... found
  26 Should Python Bindings be installed: [y/N] N
  27 Should the old laser server be used instead of the new one: [y/N] N
  28 
  29 Type the install prefix to use for public installs, or hit enter to keep the
  30 default as /usr/local. (This prefix is not currently used by any rules.)
  31 
  32 Install path [/usr/local/]: 
  33 
  34 You must have Linux kernel 2.0.20 to compile:
  35 Nomadic Technologies XR4000
  36 
  37 These are the robot types CARMEN currently supports:
  38 1. ActiveMedia Pioneer I
  39 2. ActiveMedia Pioneer II
  40 3. iRobot ATRV
  41 4. iRobot ATRV-JR
  42 5. iRobot B21R
  43 6. Scout
  44 7. OrcBoard v.4 
  45 8. OrcBoard v.5 (Experimental)
  46 8. Segway RMP
  47 9. *
  48 
  49 Please select which robots you wish to compile base modules for.
  50 e.g., 1, 2, 6 would compile support for both Pioneer types and a Scout.
  51 Hit enter to compile them all, or type "none" to compile no base module
  52 support, for example, if you will be working exclusively in simulation.
  53 
  54 Robot numbers [*]: 
  55 Very well, compiling support for all base types.


make

* Once you get a successful ./configure, you can run make


JAVA LIBRARIRES

I ended up skipping over java because of these errors:

   1 ****************************************************************
   2 * Module  : JAVA LIBRARIES
   3 * Comment : Module for interfacing java programs with Carmen!
   4 ****************************************************************
   5 
   6   --> Starting make
   7     ---- Compiling ipcjava.c to ipcjava.o (C)
   8 In file included from /usr/include/_G_config.h:44,
   9                  from /usr/include/libio.h:32,
  10                  from /usr/include/stdio.h:72,
  11                  from ipcjava.c:67:
  12 /usr/include/gconv.h:72: error: expected declaration specifiers or ‘...’ beforesize_t
  13 /usr/include/gconv.h:88: error: expected declaration specifiers or ‘...’ beforesize_t
  14 /usr/include/gconv.h:97: error: expected declaration specifiers or ‘...’ beforesize_t
  15 /usr/include/gconv.h:174: error: expected specifier-qualifier-list beforesize_t
  16 In file included from /usr/include/stdio.h:72,
  17 
  18 make[3]: *** [ipcjava.o] Error 1
  19 exit: 7: Illegal number: -1
  20 make[2]: *** [libraries] Error 2
  21 make[1]: *** [phase1] Error 2
  22 exit: 1: Illegal number: -1
  23 make: *** [phase1] Error 2


./configure --nojava

So, let's ./configure again and remove java

   1 carmen/src# ./configure --nojava
   2 Using $CC as gcc...
   3 Found processor unknown.
   4 Congratulations. You are running Linux.
   5 Found kernel 2.6.20-16-generic.
   6 This doesn't look like SuSE!
   7 Searching for canlib... Found canlib header at /usr/include/canlib.h
   8 Searching for GTK... found, version 2.10.11
   9 Searching for joystick... found at /usr/include/linux/joystick.h
  10 
  11 It looks like this is a system include, so I won't add it to the standard
  12 include path. Adding partial system include paths is usually a recipe for
  13 disaster. If this is the wrong thing to do, you could add the following
  14 line to Makefile.vars:
  15 JOYSTICK_INCLUDE = -I/usr/include/linux/joystick.h
  16 
  17 Searching for tcpd.h... found
  18 Looks like your system supports access control. Very good.
  19 Searching for jpeglib.h... found
  20 Searching for zlib.h... found
  21 Searching for Wand... not found
  22 Searching for doxygen... found
  23 Searching for SWIG... found
  24 Searching for Python... found
  25 Should Python Bindings be installed: [y/N] N
  26 Should the old laser server be used instead of the new one: [y/N] N
  27 
  28 Type the install prefix to use for public installs, or hit enter to keep the
  29 default as /usr/local. (This prefix is not currently used by any rules.)
  30 
  31 Install path [/usr/local/]: 
  32 
  33 You must have Linux kernel 2.0.20 to compile:
  34 Nomadic Technologies XR4000
  35 
  36 These are the robot types CARMEN currently supports:
  37 1. ActiveMedia Pioneer I
  38 2. ActiveMedia Pioneer II
  39 3. iRobot ATRV
  40 4. iRobot ATRV-JR
  41 5. iRobot B21R
  42 6. Scout
  43 7. OrcBoard v.4 
  44 8. OrcBoard v.5 (Experimental)
  45 8. Segway RMP
  46 9. *
  47 
  48 Please select which robots you wish to compile base modules for.
  49 e.g., 1, 2, 6 would compile support for both Pioneer types and a Scout.
  50 Hit enter to compile them all, or type "none" to compile no base module
  51 support, for example, if you will be working exclusively in simulation.
  52 
  53 Robot numbers [*]: 
  54 Very well, compiling support for all base types.


IPC

Try make again. IPC requires g++ to be installed.

* make[3]: g++: Command not found

apt-get install g++

   1 carmen/src# make
   2 
   3 ****************************************************************
   4 * Module  : IPC
   5 * Comment : Flexible communications package written by Reid Simmons
   6 ****************************************************************
   7 
   8   --> Starting make
   9     ---- Archiving ipc.o queryResponse.o marshall.o timer.o list.o behaviors.o tcModError.o datamsg.o formatters.o hash.o idtable.o key.o primFmttrs.o reg.o sendMsg.o tcaMem.o tcaRef.o comModule.o com.o globalM.o globalMUtil.o strList.o modLogging.o modVar.o resMod.o parseFmttrs.o lex.o printData.o into libipc.so.1 (C)
  10 make[3]: g++: Command not found
  11 make[3]: *** [libipc.so.1] Error 127
  12 exit: 7: Illegal number: -1
  13 make[2]: *** [binaries] Error 2
  14 make[1]: *** [phase2] Error 2
  15 exit: 1: Illegal number: -1
  16 make: *** [phase2] Error 2


SEGWAY

make again and it will probably error out on the Segway:

   1 ****************************************************************
   2 * Module  : SEGWAY
   3 * Comment : Segway RMP Base Module
   4 ****************************************************************
   5 
   6   --> Starting make
   7     ---- Compiling segwaycore.c to segwaycore.o (C)
   8 In file included from segwaycore.c:30:
   9 /usr/include/canlib.h:13:21: error: canstat.h: No such file or directory
  10 In file included from segwaycore.c:30:
  11 /usr/include/canlib.h:130: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanSetDriverMode
  12 /usr/include/canlib.h:135: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanClose
  13 /usr/include/canlib.h:137: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanGetRawHandle
  14 /usr/include/canlib.h:139: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanBusOn
  15 /usr/include/canlib.h:141: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanResetBus
  16 /usr/include/canlib.h:143: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanBusOff
  17 /usr/include/canlib.h:145: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanSetBusParams
  18 /usr/include/canlib.h:153: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanGetBusParams
  19 /usr/include/canlib.h:161: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanSetBusParamsC200
  20 /usr/include/canlib.h:165: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanSetBusOutputControl
  21 /usr/include/canlib.h:168: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanGetBusOutputControl
  22 /usr/include/canlib.h:171: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanAccept
  23 /usr/include/canlib.h:175: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanReadStatus
  24 /usr/include/canlib.h:178: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanReadErrorCounters
  25 /usr/include/canlib.h:183: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanWrite
  26 /usr/include/canlib.h:187: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanWriteWait
  27 /usr/include/canlib.h:191: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanWriteSync
  28 /usr/include/canlib.h:194: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanReadWait
  29 /usr/include/canlib.h:202: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanRead
  30 /usr/include/canlib.h:210: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanTranslateBaud
  31 /usr/include/canlib.h:217: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanGetErrorText
  32 /usr/include/canlib.h:231: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanIoCtl
  33 /usr/include/canlib.h:234: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanReadTimer
  34 /usr/include/canlib.h:236: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanGetNumberOfChannels
  35 /usr/include/canlib.h:238: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanGetChannelData
  36 /usr/include/canlib.h:242: error: expected ‘=’, ‘,’, ‘;’, ‘asmor__attribute__beforecanSetNotify
  37 cc1: warnings being treated as errors
  38 segwaycore.c: In functionsegway_update_status’:
  39 segwaycore.c:49: warning: implicit declaration of functioncanReadWait
  40 segwaycore.c:54: warning: implicit declaration of functioncanBusOn
  41 segwaycore.c: In functionsegway_initialize’:
  42 segwaycore.c:140: warning: implicit declaration of functioncanSetBusParams
  43 segwaycore.c: In functionsegway_free’:
  44 segwaycore.c:158: warning: implicit declaration of functioncanClose
  45 segwaycore.c: In functionsegway_kill’:
  46 segwaycore.c:166: warning: implicit declaration of functioncanWrite
  47 make[6]: *** [segwaycore.o] Error 1
  48 exit: 7: Illegal number: -1
  49 make[5]: *** [libraries] Error 2
  50 make[4]: *** [all] Error 2
  51 make[3]: *** [segway] Error 2
  52 exit: 7: Illegal number: -1
  53 make[2]: *** [binaries] Error 2
  54 make[1]: *** [phase2] Error 2
  55 exit: 1: Illegal number: -1
  56 make: *** [phase2] Error 2


SEGWAY

Robot numbers [*]: 1,2,3,4,5,6,7,8

* If you cannot make the segway, ./configure again and choose the other robots

   1 /carmen/src# ./configure --nojava 
   2 Using $CC as gcc...
   3 Found processor unknown.
   4 Congratulations. You are running Linux.
   5 Found kernel 2.6.20-16-generic.
   6 This doesn't look like SuSE!
   7 Searching for canlib... Found canlib header at /usr/include/canlib.h
   8 Searching for GTK... found, version 2.10.11
   9 Searching for joystick... found at /usr/include/linux/joystick.h
  10 
  11 It looks like this is a system include, so I won't add it to the standard
  12 include path. Adding partial system include paths is usually a recipe for
  13 disaster. If this is the wrong thing to do, you could add the following
  14 line to Makefile.vars:
  15 JOYSTICK_INCLUDE = -I/usr/include/linux/joystick.h
  16 
  17 Searching for tcpd.h... found
  18 Looks like your system supports access control. Very good.
  19 Searching for jpeglib.h... found
  20 Searching for zlib.h... found
  21 Searching for Wand... not found
  22 Searching for doxygen... found
  23 Searching for SWIG... found
  24 Searching for Python... found
  25 Should Python Bindings be installed: [y/N] N
  26 Should the old laser server be used instead of the new one: [y/N] N
  27 
  28 Type the install prefix to use for public installs, or hit enter to keep the
  29 default as /usr/local. (This prefix is not currently used by any rules.)
  30 
  31 Install path [/usr/local/]: 
  32 
  33 You must have Linux kernel 2.0.20 to compile:
  34 Nomadic Technologies XR4000
  35 
  36 These are the robot types CARMEN currently supports:
  37 1. ActiveMedia Pioneer I
  38 2. ActiveMedia Pioneer II
  39 3. iRobot ATRV
  40 4. iRobot ATRV-JR
  41 5. iRobot B21R
  42 6. Scout
  43 7. OrcBoard v.4 
  44 8. OrcBoard v.5 (Experimental)
  45 8. Segway RMP
  46 9. *
  47 
  48 Please select which robots you wish to compile base modules for.
  49 e.g., 1, 2, 6 would compile support for both Pioneer types and a Scout.
  50 Hit enter to compile them all, or type "none" to compile no base module
  51 support, for example, if you will be working exclusively in simulation.
  52 
  53 Robot numbers [*]: 1,2,3,4,5,6,7,8
  54 
  55 Compiling base support for: pioneer rflex scout orc4 orc5


gtk-config

MAP-EDITOR requires gtk-config

apt-get install libgtk1.2-dev gdk-imlib-dev

   1 ****************************************************************
   2 * Module  : MAP_EDITOR
   3 * Comment : Provides photoshop-like map editor.
   4 ****************************************************************
   5 
   6   --> Starting make
   7     ---- Compiling map_editor.c to map_editor.o (C)
   8 /bin/sh: gtk-config: not found
   9 map_editor.c:29:21: error: gtk/gtk.h: No such file or directory
  10 In file included from map_editor.c:31:
  11 map_editor.h:37:23: error: gdk_imlib.h: No such file or directory
  12 In file included from map_editor.c:31:
  13 
  14 carmen/src# gtk-config
  15 The program 'gtk-config' is currently not installed.  You can install it by typing:
  16 apt-get install libgtk1.2-dev
  17 bash: gtk-config: command not found

apt-get install libgtk1.2-dev

apt-get install gdk-imlib-dev


QUICKCAM

This should get you all the way to the Phillips Camera

   1 ****************************************************************
   2 * Module  : QUICKCAM
   3 * Comment : Phillips Camera Module
   4 ****************************************************************
   5 
   6   --> Starting make
   7 ccvt_mmx.S:31:27: error: linux/linkage.h: No such file or directory
   8 make[6]: *** [ccvt_mmx.o] Error 1
   9 exit: 7: Illegal number: -1
  10 make[5]: *** [libraries] Error 2
  11 make[4]: *** [all] Error 2
  12 make[3]: *** [quickcam/libquickcam.a] Error 2
  13 exit: 7: Illegal number: -1
  14 make[2]: *** [binaries] Error 2
  15 make[1]: *** [phase2] Error 2
  16 exit: 1: Illegal number: -1
  17 make: *** [phase2] Error 2


== linkage.h ===

QUICKCAM requires linkage.h

* I don't know how to fix this error, but I have the pwc.ko module compiled on another platform so this is not a show stopper at the moment.

   1 carmen/src# locate linkage.h
   2 /usr/src/linux-headers-2.6.20-15-generic/include/linux/linkage.h
   3 /usr/src/linux-headers-2.6.20-16-generic/include/linux/linkage.h
   4 /usr/src/linux-headers-2.6.20-16/include/asm-x86_64/linkage.h
   5 /usr/src/linux-headers-2.6.20-16/include/asm-s390/linkage.h
   6 /usr/src/linux-headers-2.6.20-16/include/asm-sh64/linkage.h
   7 /usr/src/linux-headers-2.6.20-16/include/asm-xtensa/linkage.h
   8 /usr/src/linux-headers-2.6.20-16/include/asm-sh/linkage.h
   9 /usr/src/linux-headers-2.6.20-16/include/asm-i386/linkage.h
  10 /usr/src/linux-headers-2.6.20-16/include/asm-sparc64/linkage.h
  11 /usr/src/linux-headers-2.6.20-16/include/asm-mips/linkage.h
  12 /usr/src/linux-headers-2.6.20-16/include/asm-m68knommu/linkage.h
  13 /usr/src/linux-headers-2.6.20-16/include/asm-m32r/linkage.h
  14 /usr/src/linux-headers-2.6.20-16/include/asm-sparc/linkage.h
  15 /usr/src/linux-headers-2.6.20-16/include/asm-um/linkage.h
  16 /usr/src/linux-headers-2.6.20-16/include/asm-v850/clinkage.h
  17 /usr/src/linux-headers-2.6.20-16/include/asm-v850/linkage.h
  18 /usr/src/linux-headers-2.6.20-16/include/asm-alpha/linkage.h
  19 /usr/src/linux-headers-2.6.20-16/include/asm-avr32/linkage.h
  20 /usr/src/linux-headers-2.6.20-16/include/linux/linkage.h
  21 /usr/src/linux-headers-2.6.20-16/include/asm-h8300/linkage.h
  22 /usr/src/linux-headers-2.6.20-16/include/asm-arm26/linkage.h
  23 /usr/src/linux-headers-2.6.20-16/include/asm-parisc/linkage.h
  24 /usr/src/linux-headers-2.6.20-16/include/asm-frv/linkage.h
  25 /usr/src/linux-headers-2.6.20-16/include/asm-m68k/linkage.h
  26 /usr/src/linux-headers-2.6.20-16/include/asm-ia64/linkage.h
  27 /usr/src/linux-headers-2.6.20-16/include/asm-cris/linkage.h
  28 /usr/src/linux-headers-2.6.20-16/include/asm-powerpc/linkage.h
  29 /usr/src/linux-headers-2.6.20-16/include/asm-arm/linkage.h
  30 /usr/src/linux-headers-2.6.20-15/include/asm-x86_64/linkage.h
  31 /usr/src/linux-headers-2.6.20-15/include/asm-s390/linkage.h
  32 /usr/src/linux-headers-2.6.20-15/include/asm-sh64/linkage.h
  33 /usr/src/linux-headers-2.6.20-15/include/asm-xtensa/linkage.h
  34 /usr/src/linux-headers-2.6.20-15/include/asm-sh/linkage.h
  35 /usr/src/linux-headers-2.6.20-15/include/asm-i386/linkage.h
  36 /usr/src/linux-headers-2.6.20-15/include/asm-sparc64/linkage.h
  37 /usr/src/linux-headers-2.6.20-15/include/asm-mips/linkage.h
  38 /usr/src/linux-headers-2.6.20-15/include/asm-m68knommu/linkage.h
  39 /usr/src/linux-headers-2.6.20-15/include/asm-m32r/linkage.h
  40 /usr/src/linux-headers-2.6.20-15/include/asm-sparc/linkage.h
  41 /usr/src/linux-headers-2.6.20-15/include/asm-um/linkage.h
  42 /usr/src/linux-headers-2.6.20-15/include/asm-v850/clinkage.h
  43 /usr/src/linux-headers-2.6.20-15/include/asm-v850/linkage.h
  44 /usr/src/linux-headers-2.6.20-15/include/asm-alpha/linkage.h
  45 /usr/src/linux-headers-2.6.20-15/include/asm-avr32/linkage.h
  46 /usr/src/linux-headers-2.6.20-15/include/linux/linkage.h
  47 /usr/src/linux-headers-2.6.20-15/include/asm-h8300/linkage.h
  48 /usr/src/linux-headers-2.6.20-15/include/asm-arm26/linkage.h
  49 /usr/src/linux-headers-2.6.20-15/include/asm-parisc/linkage.h
  50 /usr/src/linux-headers-2.6.20-15/include/asm-frv/linkage.h
  51 /usr/src/linux-headers-2.6.20-15/include/asm-m68k/linkage.h
  52 /usr/src/linux-headers-2.6.20-15/include/asm-ia64/linkage.h
  53 /usr/src/linux-headers-2.6.20-15/include/asm-cris/linkage.h
  54 /usr/src/linux-headers-2.6.20-15/include/asm-powerpc/linkage.h
  55 /usr/src/linux-headers-2.6.20-15/include/asm-arm/linkage.h


skip camera

* The quickest way to get around this is to remove the camera package from the Makefile

   1 PACKAGES = ipc global param_daemon base laser robot simulator robotgui \
   2            maptools mapeditor logger logtools hmap \
   3            localize navigator vasco proccontrol \
   4            '''camera''' joystick pantilt gps
   5 }
   6 
   7 ----
   8 
   9 == make ==
  10 
  11 Now you should be able to make
  12 
  13 {{{#!cplusplus
  14 carmen/src# make
  15 
  16        ***********
  17        E X P O R T
  18        ***********
  19 
  20 
  21        *****************
  22        L I B R A R I E S
  23        *****************
  24 
  25 
  26 ****************************************************************
  27 * Module  : IPC
  28 * Comment : Flexible communications package written by Reid Simmons
  29 ****************************************************************
  30 
  31   --> Starting make
  32   <-- Make done
  33 
  34 ****************************************************************
  35 * Module  : GLOBAL
  36 * Comment : CARMEN global functions
  37 ****************************************************************
  38 
  39   --> Starting make
  40   <-- Make done
  41 
  42 ****************************************************************
  43 * Module  : PARAMDAEMON
  44 * Comment : Module providing central repository for module parameters
  45 ****************************************************************
  46 
  47   --> Starting make
  48   <-- Make done
  49 
  50 ****************************************************************
  51 * Module  : BASE
  52 * Comment : Generic interface to all robot bases
  53 ****************************************************************
  54 
  55   --> Starting make
  56   <-- Make done
  57 
  58 ****************************************************************
  59 * Module  : LASER
  60 * Comment : The new laser module for SICK and Hokuyo lasers
  61 ****************************************************************
  62 
  63   --> Starting make
  64   <-- Make done
  65 
  66 ****************************************************************
  67 * Module  : ROBOT_DAEMON
  68 * Comment : Module integrating all robot sensors and configuration
  69 ****************************************************************
  70 
  71   --> Starting make
  72   <-- Make done
  73 
  74 ****************************************************************
  75 * Module  : SIMULATOR
  76 * Comment : simulates the readings of a robot on a map
  77 ****************************************************************
  78 
  79   --> Starting make
  80   <-- Make done
  81 
  82 ****************************************************************
  83 * Module  : ROBOTGUI
  84 * Comment : Module for displaying output of robot, lasers and sonars and odometry
  85 ****************************************************************
  86 
  87   --> Starting make
  88   <-- Make done
  89 
  90 ****************************************************************
  91 * Module  : MAPTOOLS
  92 * Comment : Tools for mapping etc.
  93 ****************************************************************
  94 
  95   --> Starting make
  96   <-- Make done
  97 
  98 ****************************************************************
  99 * Module  : MAP_EDITOR
 100 * Comment : Provides photoshop-like map editor.
 101 ****************************************************************
 102 
 103   --> Starting make
 104   <-- Make done
 105 
 106 ****************************************************************
 107 * Module  : LOGGER
 108 * Comment : Modules for logging, displaying, and playing back data.
 109 ****************************************************************
 110 
 111   --> Starting make
 112   <-- Make done
 113 
 114 ****************************************************************
 115 * Module  : LOGTOOLS
 116 * Comment : Log tools, like the famous log2pic
 117 ****************************************************************
 118 
 119   --> Starting make
 120   <-- Make done
 121 
 122 ****************************************************************
 123 * Module  : HMAP
 124 * Comment : mapserver add-on for heirarchical maps (hmaps).
 125 ****************************************************************
 126 
 127   --> Starting make
 128   <-- Make done
 129 
 130 ****************************************************************
 131 * Module  : LOCALIZE
 132 * Comment : Markov Localization Module
 133 ****************************************************************
 134 
 135   --> Starting make
 136   <-- Make done
 137 
 138 ****************************************************************
 139 * Module  : NAVIGATOR
 140 * Comment : The motion planner!
 141 ****************************************************************
 142 
 143   --> Starting make
 144   <-- Make done
 145 
 146 ****************************************************************
 147 * Module  : VASCO
 148 * Comment : Scan-matching mapper by Dirk Haehnel
 149 ****************************************************************
 150 
 151   --> Starting make
 152   <-- Make done
 153 
 154 ****************************************************************
 155 * Module  : PROCCONTROL
 156 * Comment : Process controller for CARMEN
 157 ****************************************************************
 158 
 159   --> Starting make
 160   <-- Make done
 161 
 162 ****************************************************************
 163 * Module  : JOYSTICK
 164 * Comment : Joystick library and control modules
 165 ****************************************************************
 166 
 167   --> Starting make
 168   <-- Make done
 169 
 170 ****************************************************************
 171 * Module  : PANTILT
 172 * Comment : Module for pantilt interface - direct perception
 173 ****************************************************************
 174 
 175   --> Starting make
 176   <-- Make done
 177 
 178 ****************************************************************
 179 * Module  : GPS
 180 * Comment : NMEA GPS Module
 181 ****************************************************************
 182 
 183   --> Starting make
 184   <-- Make done
 185 
 186        ***************
 187        B I N A R I E S
 188        ***************
 189 
 190 
 191 ****************************************************************
 192 * Module  : IPC
 193 * Comment : Flexible communications package written by Reid Simmons
 194 ****************************************************************
 195 
 196   --> Starting make
 197   <-- Make done
 198 
 199 ****************************************************************
 200 * Module  : GLOBAL
 201 * Comment : CARMEN global functions
 202 ****************************************************************
 203 
 204   --> Starting make
 205   <-- Make done
 206 
 207 ****************************************************************
 208 * Module  : PARAMDAEMON
 209 * Comment : Module providing central repository for module parameters
 210 ****************************************************************
 211 
 212   --> Starting make
 213   <-- Make done
 214 
 215 ****************************************************************
 216 * Module  : BASE
 217 * Comment : Generic interface to all robot bases
 218 ****************************************************************
 219 
 220   --> Starting make
 221   <-- Make done
 222 
 223 ****************************************************************
 224 * Module  : LASER
 225 * Comment : The new laser module for SICK and Hokuyo lasers
 226 ****************************************************************
 227 
 228   --> Starting make
 229   <-- Make done
 230 
 231 ****************************************************************
 232 * Module  : ROBOT_DAEMON
 233 * Comment : Module integrating all robot sensors and configuration
 234 ****************************************************************
 235 
 236   --> Starting make
 237   <-- Make done
 238 
 239 ****************************************************************
 240 * Module  : SIMULATOR
 241 * Comment : simulates the readings of a robot on a map
 242 ****************************************************************
 243 
 244   --> Starting make
 245   <-- Make done
 246 
 247 ****************************************************************
 248 * Module  : ROBOTGUI
 249 * Comment : Module for displaying output of robot, lasers and sonars and odometry
 250 ****************************************************************
 251 
 252   --> Starting make
 253   <-- Make done
 254 
 255 ****************************************************************
 256 * Module  : MAPTOOLS
 257 * Comment : Tools for mapping etc.
 258 ****************************************************************
 259 
 260   --> Starting make
 261   <-- Make done
 262 
 263 ****************************************************************
 264 * Module  : MAP_EDITOR
 265 * Comment : Provides photoshop-like map editor.
 266 ****************************************************************
 267 
 268   --> Starting make
 269   <-- Make done
 270 
 271 ****************************************************************
 272 * Module  : LOGGER
 273 * Comment : Modules for logging, displaying, and playing back data.
 274 ****************************************************************
 275 
 276   --> Starting make
 277   <-- Make done
 278 
 279 ****************************************************************
 280 * Module  : LOGTOOLS
 281 * Comment : Log tools, like the famous log2pic
 282 ****************************************************************
 283 
 284   --> Starting make
 285   <-- Make done
 286 
 287 ****************************************************************
 288 * Module  : HMAP
 289 * Comment : mapserver add-on for heirarchical maps (hmaps).
 290 ****************************************************************
 291 
 292   --> Starting make
 293   <-- Make done
 294 
 295 ****************************************************************
 296 * Module  : LOCALIZE
 297 * Comment : Markov Localization Module
 298 ****************************************************************
 299 
 300   --> Starting make
 301   <-- Make done
 302 
 303 ****************************************************************
 304 * Module  : NAVIGATOR
 305 * Comment : The motion planner!
 306 ****************************************************************
 307 
 308   --> Starting make
 309   <-- Make done
 310 
 311 ****************************************************************
 312 * Module  : VASCO
 313 * Comment : Scan-matching mapper by Dirk Haehnel
 314 ****************************************************************
 315 
 316   --> Starting make
 317   <-- Make done
 318 
 319 ****************************************************************
 320 * Module  : PROCCONTROL
 321 * Comment : Process controller for CARMEN
 322 ****************************************************************
 323 
 324   --> Starting make
 325   <-- Make done
 326 
 327 ****************************************************************
 328 * Module  : JOYSTICK
 329 * Comment : Joystick library and control modules
 330 ****************************************************************
 331 
 332   --> Starting make
 333     ---- Compiling wingman_control.c to wingman_control.o (C)
 334     ---- Linking wingman_control.o joyctrl.o to wingman_control (C)
 335     ---- Copying wingman_control to ~/carmen/bin
 336   <-- Make done
 337 
 338 ****************************************************************
 339 * Module  : PANTILT
 340 * Comment : Module for pantilt interface - direct perception
 341 ****************************************************************
 342 
 343   --> Starting make
 344     ---- Compiling io.c to io.o (C)
 345     ---- Compiling ipc.c to ipc.o (C)
 346     ---- Compiling utils.c to utils.o (C)
 347     ---- Compiling main.c to main.o (C)
 348     ---- Linking io.o ipc.o utils.o main.o to pantilt (C)
 349     ---- Compiling pantilt-test.c to pantilt-test.o (C)
 350     ---- Linking pantilt-test.o to pantilt-test (C)
 351     ---- Copying pantilt to ~/carmen/bin
 352     ---- Copying pantilt-test to ~/carmen/bin
 353   <-- Make done
 354 
 355 ****************************************************************
 356 * Module  : GPS
 357 * Comment : NMEA GPS Module
 358 ****************************************************************
 359 
 360   --> Starting make
 361     ---- Compiling gps-io.c to gps-io.o (C)
 362     ---- Compiling gps-ipc.c to gps-ipc.o (C)
 363     ---- Compiling gps-nmea.c to gps-nmea.o (C)
 364     ---- Compiling gps-main.c to gps-main.o (C)
 365     ---- Linking gps-io.o gps-ipc.o gps-nmea.o gps-main.o to gps-nmea (C)
 366     ---- Compiling gps-test.c to gps-test.o (C)
 367     ---- Linking gps-test.o gps_nmea_interface.o to gps-test (C)
 368     ---- Copying gps-nmea to ~/carmen/bin
 369   <-- Make done
 370 Done making binaries...


RUN

Congratulations you have now downloaded, configured and made Carmen on Ubuntu!

Running instructions are here:

http://carmen.sourceforge.net/using_carmen.html

carmen (last edited 2011-05-19 22:33:24 by dhcp-43-43)