carmen
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If you get this error you need to install g++ and make again. It will probably error out on the Segway: |
}}} If you get this error you need to apt-get install g++ and make again. It will probably error out on the Segway: {{{#!cplusplus |
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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
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.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
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 = libgtk2.0-* tcpd.h = libwrap0-deb jpeglib.h = libjpeg-dev zlib.h = lib*zlib* Wand = ? Java = j2sdk1.4, and then give configure it the environment variable it wants
"export JAVA_HOME=/usr"
doxygen = doxygen doxygen-doc doxygen-docs doxygen-gui SWIG = swig swig-doc swig-examples
--
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.
29 Please remove it and run configure again.
30
31 carmen/src# ls -lr laser
32 total 0
33 carmen/src# rm -rf laser
For this first example we answered N to the Python bindings.
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.
Now you should be ready to make. Good luck getting java to work. I ended up skipping over it.
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 ‘...’ before ‘size_t’
13 /usr/include/gconv.h:88: error: expected declaration specifiers or ‘...’ before ‘size_t’
14 /usr/include/gconv.h:97: error: expected declaration specifiers or ‘...’ before ‘size_t’
15 /usr/include/gconv.h:174: error: expected specifier-qualifier-list before ‘size_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
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.
55 root@hwilde-r60u:/home/hwilde/carmen/src# make
56
57 ****************************************************************
58 * Module : IPC
59 * Comment : Flexible communications package written by Reid Simmons
60 ****************************************************************
61
62 --> Starting make
63 ---- 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)
64 make[3]: g++: Command not found
65 make[3]: *** [libipc.so.1] Error 127
66 exit: 7: Illegal number: -1
67 make[2]: *** [binaries] Error 2
68 make[1]: *** [phase2] Error 2
69 exit: 1: Illegal number: -1
70 make: *** [phase2] Error 2
If you get this error you need to apt-get install g++ and make again. 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 ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canSetDriverMode’
12 /usr/include/canlib.h:135: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canClose’
13 /usr/include/canlib.h:137: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canGetRawHandle’
14 /usr/include/canlib.h:139: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canBusOn’
15 /usr/include/canlib.h:141: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canResetBus’
16 /usr/include/canlib.h:143: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canBusOff’
17 /usr/include/canlib.h:145: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canSetBusParams’
18 /usr/include/canlib.h:153: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canGetBusParams’
19 /usr/include/canlib.h:161: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canSetBusParamsC200’
20 /usr/include/canlib.h:165: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canSetBusOutputControl’
21 /usr/include/canlib.h:168: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canGetBusOutputControl’
22 /usr/include/canlib.h:171: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canAccept’
23 /usr/include/canlib.h:175: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canReadStatus’
24 /usr/include/canlib.h:178: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canReadErrorCounters’
25 /usr/include/canlib.h:183: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canWrite’
26 /usr/include/canlib.h:187: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canWriteWait’
27 /usr/include/canlib.h:191: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canWriteSync’
28 /usr/include/canlib.h:194: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canReadWait’
29 /usr/include/canlib.h:202: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canRead’
30 /usr/include/canlib.h:210: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canTranslateBaud’
31 /usr/include/canlib.h:217: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canGetErrorText’
32 /usr/include/canlib.h:231: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canIoCtl’
33 /usr/include/canlib.h:234: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canReadTimer’
34 /usr/include/canlib.h:236: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canGetNumberOfChannels’
35 /usr/include/canlib.h:238: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canGetChannelData’
36 /usr/include/canlib.h:242: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘canSetNotify’
37 cc1: warnings being treated as errors
38 segwaycore.c: In function ‘segway_update_status’:
39 segwaycore.c:49: warning: implicit declaration of function ‘canReadWait’
40 segwaycore.c:54: warning: implicit declaration of function ‘canBusOn’
41 segwaycore.c: In function ‘segway_initialize’:
42 segwaycore.c:140: warning: implicit declaration of function ‘canSetBusParams’
43 segwaycore.c: In function ‘segway_free’:
44 segwaycore.c:158: warning: implicit declaration of function ‘canClose’
45 segwaycore.c: In function ‘segway_kill’:
46 segwaycore.c:166: warning: implicit declaration of function ‘canWrite’
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
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
make again, you might see this error message.
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:
carmen/src# gtk-config The program 'gtk-config' is currently not installed. You can install it by typing: apt-get install libgtk1.2-dev bash: gtk-config: command not found
apt-get install libgtk1.2-dev apt-get install gdk-imlib-dev
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
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.
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
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 Now you should be able to make
9
10 {{{#!cplusplus
11 carmen/src# make
12
13 ***********
14 E X P O R T
15 ***********
16
17
18 *****************
19 L I B R A R I E S
20 *****************
21
22
23 ****************************************************************
24 * Module : IPC
25 * Comment : Flexible communications package written by Reid Simmons
26 ****************************************************************
27
28 --> Starting make
29 <-- Make done
30
31 ****************************************************************
32 * Module : GLOBAL
33 * Comment : CARMEN global functions
34 ****************************************************************
35
36 --> Starting make
37 <-- Make done
38
39 ****************************************************************
40 * Module : PARAMDAEMON
41 * Comment : Module providing central repository for module parameters
42 ****************************************************************
43
44 --> Starting make
45 <-- Make done
46
47 ****************************************************************
48 * Module : BASE
49 * Comment : Generic interface to all robot bases
50 ****************************************************************
51
52 --> Starting make
53 <-- Make done
54
55 ****************************************************************
56 * Module : LASER
57 * Comment : The new laser module for SICK and Hokuyo lasers
58 ****************************************************************
59
60 --> Starting make
61 <-- Make done
62
63 ****************************************************************
64 * Module : ROBOT_DAEMON
65 * Comment : Module integrating all robot sensors and configuration
66 ****************************************************************
67
68 --> Starting make
69 <-- Make done
70
71 ****************************************************************
72 * Module : SIMULATOR
73 * Comment : simulates the readings of a robot on a map
74 ****************************************************************
75
76 --> Starting make
77 <-- Make done
78
79 ****************************************************************
80 * Module : ROBOTGUI
81 * Comment : Module for displaying output of robot, lasers and sonars and odometry
82 ****************************************************************
83
84 --> Starting make
85 <-- Make done
86
87 ****************************************************************
88 * Module : MAPTOOLS
89 * Comment : Tools for mapping etc.
90 ****************************************************************
91
92 --> Starting make
93 <-- Make done
94
95 ****************************************************************
96 * Module : MAP_EDITOR
97 * Comment : Provides photoshop-like map editor.
98 ****************************************************************
99
100 --> Starting make
101 <-- Make done
102
103 ****************************************************************
104 * Module : LOGGER
105 * Comment : Modules for logging, displaying, and playing back data.
106 ****************************************************************
107
108 --> Starting make
109 <-- Make done
110
111 ****************************************************************
112 * Module : LOGTOOLS
113 * Comment : Log tools, like the famous log2pic
114 ****************************************************************
115
116 --> Starting make
117 <-- Make done
118
119 ****************************************************************
120 * Module : HMAP
121 * Comment : mapserver add-on for heirarchical maps (hmaps).
122 ****************************************************************
123
124 --> Starting make
125 <-- Make done
126
127 ****************************************************************
128 * Module : LOCALIZE
129 * Comment : Markov Localization Module
130 ****************************************************************
131
132 --> Starting make
133 <-- Make done
134
135 ****************************************************************
136 * Module : NAVIGATOR
137 * Comment : The motion planner!
138 ****************************************************************
139
140 --> Starting make
141 <-- Make done
142
143 ****************************************************************
144 * Module : VASCO
145 * Comment : Scan-matching mapper by Dirk Haehnel
146 ****************************************************************
147
148 --> Starting make
149 <-- Make done
150
151 ****************************************************************
152 * Module : PROCCONTROL
153 * Comment : Process controller for CARMEN
154 ****************************************************************
155
156 --> Starting make
157 <-- Make done
158
159 ****************************************************************
160 * Module : JOYSTICK
161 * Comment : Joystick library and control modules
162 ****************************************************************
163
164 --> Starting make
165 <-- Make done
166
167 ****************************************************************
168 * Module : PANTILT
169 * Comment : Module for pantilt interface - direct perception
170 ****************************************************************
171
172 --> Starting make
173 <-- Make done
174
175 ****************************************************************
176 * Module : GPS
177 * Comment : NMEA GPS Module
178 ****************************************************************
179
180 --> Starting make
181 <-- Make done
182
183 ***************
184 B I N A R I E S
185 ***************
186
187
188 ****************************************************************
189 * Module : IPC
190 * Comment : Flexible communications package written by Reid Simmons
191 ****************************************************************
192
193 --> Starting make
194 <-- Make done
195
196 ****************************************************************
197 * Module : GLOBAL
198 * Comment : CARMEN global functions
199 ****************************************************************
200
201 --> Starting make
202 <-- Make done
203
204 ****************************************************************
205 * Module : PARAMDAEMON
206 * Comment : Module providing central repository for module parameters
207 ****************************************************************
208
209 --> Starting make
210 <-- Make done
211
212 ****************************************************************
213 * Module : BASE
214 * Comment : Generic interface to all robot bases
215 ****************************************************************
216
217 --> Starting make
218 <-- Make done
219
220 ****************************************************************
221 * Module : LASER
222 * Comment : The new laser module for SICK and Hokuyo lasers
223 ****************************************************************
224
225 --> Starting make
226 <-- Make done
227
228 ****************************************************************
229 * Module : ROBOT_DAEMON
230 * Comment : Module integrating all robot sensors and configuration
231 ****************************************************************
232
233 --> Starting make
234 <-- Make done
235
236 ****************************************************************
237 * Module : SIMULATOR
238 * Comment : simulates the readings of a robot on a map
239 ****************************************************************
240
241 --> Starting make
242 <-- Make done
243
244 ****************************************************************
245 * Module : ROBOTGUI
246 * Comment : Module for displaying output of robot, lasers and sonars and odometry
247 ****************************************************************
248
249 --> Starting make
250 <-- Make done
251
252 ****************************************************************
253 * Module : MAPTOOLS
254 * Comment : Tools for mapping etc.
255 ****************************************************************
256
257 --> Starting make
258 <-- Make done
259
260 ****************************************************************
261 * Module : MAP_EDITOR
262 * Comment : Provides photoshop-like map editor.
263 ****************************************************************
264
265 --> Starting make
266 <-- Make done
267
268 ****************************************************************
269 * Module : LOGGER
270 * Comment : Modules for logging, displaying, and playing back data.
271 ****************************************************************
272
273 --> Starting make
274 <-- Make done
275
276 ****************************************************************
277 * Module : LOGTOOLS
278 * Comment : Log tools, like the famous log2pic
279 ****************************************************************
280
281 --> Starting make
282 <-- Make done
283
284 ****************************************************************
285 * Module : HMAP
286 * Comment : mapserver add-on for heirarchical maps (hmaps).
287 ****************************************************************
288
289 --> Starting make
290 <-- Make done
291
292 ****************************************************************
293 * Module : LOCALIZE
294 * Comment : Markov Localization Module
295 ****************************************************************
296
297 --> Starting make
298 <-- Make done
299
300 ****************************************************************
301 * Module : NAVIGATOR
302 * Comment : The motion planner!
303 ****************************************************************
304
305 --> Starting make
306 <-- Make done
307
308 ****************************************************************
309 * Module : VASCO
310 * Comment : Scan-matching mapper by Dirk Haehnel
311 ****************************************************************
312
313 --> Starting make
314 <-- Make done
315
316 ****************************************************************
317 * Module : PROCCONTROL
318 * Comment : Process controller for CARMEN
319 ****************************************************************
320
321 --> Starting make
322 <-- Make done
323
324 ****************************************************************
325 * Module : JOYSTICK
326 * Comment : Joystick library and control modules
327 ****************************************************************
328
329 --> Starting make
330 ---- Compiling wingman_control.c to wingman_control.o (C)
331 ---- Linking wingman_control.o joyctrl.o to wingman_control (C)
332 ---- Copying wingman_control to /home/hwilde/carmen/bin
333 <-- Make done
334
335 ****************************************************************
336 * Module : PANTILT
337 * Comment : Module for pantilt interface - direct perception
338 ****************************************************************
339
340 --> Starting make
341 ---- Compiling io.c to io.o (C)
342 ---- Compiling ipc.c to ipc.o (C)
343 ---- Compiling utils.c to utils.o (C)
344 ---- Compiling main.c to main.o (C)
345 ---- Linking io.o ipc.o utils.o main.o to pantilt (C)
346 ---- Compiling pantilt-test.c to pantilt-test.o (C)
347 ---- Linking pantilt-test.o to pantilt-test (C)
348 ---- Copying pantilt to /home/hwilde/carmen/bin
349 ---- Copying pantilt-test to /home/hwilde/carmen/bin
350 <-- Make done
351
352 ****************************************************************
353 * Module : GPS
354 * Comment : NMEA GPS Module
355 ****************************************************************
356
357 --> Starting make
358 ---- Compiling gps-io.c to gps-io.o (C)
359 ---- Compiling gps-ipc.c to gps-ipc.o (C)
360 ---- Compiling gps-nmea.c to gps-nmea.o (C)
361 ---- Compiling gps-main.c to gps-main.o (C)
362 ---- Linking gps-io.o gps-ipc.o gps-nmea.o gps-main.o to gps-nmea (C)
363 ---- Compiling gps-test.c to gps-test.o (C)
364 ---- Linking gps-test.o gps_nmea_interface.o to gps-test (C)
365 ---- Copying gps-nmea to /home/hwilde/carmen/bin
366 <-- Make done
367 Done making binaries...
Running instructions are here:
carmen (last edited 2011-05-19 22:33:24 by dhcp-43-43)