Main Configuration for TUM Phoenix Drive Software

Configuration which includes all necessary configuration files and includes components as git submodules.

We use LMS (https://github.com/lms-org/lms) as Middleware Framework.

We require some packages:

• basic build stuff
• automake is needed for protobuffers
• libsdl2 because of mac
• qt because we have some fancy viz stuff going on
• currently only support for specific compiler versions: gcc-4.8 and g++-4.8

Tip: HowTo change compiler in ubuntu: https://askubuntu.com/questions/466651/how-do-i-use-the-latest-gcc-on-ubuntu

Additionally we use Conan (https://conan.io/) to build some more libs (like openCV, ...) from source. This makes sure that we always have the correct version. We have our own Conan Server running at http://mineforce.de:9300

Achievements

• First place (BasicCup 2018)[https://wiki.ifr.ing.tu-bs.de/carolocup/carolo-cup-2018] (CaroloCup with old rulebook)
• Third place (Carolocup 2017)[https://wiki.ifr.ing.tu-bs.de/carolocup/carolo-cup-2017]

How to install

1. install extra ubuntu packages

   sudo apt-get update
   sudo apt-get install python python-pip build-essential make git cmake automake libtool libsdl2-dev gcc-4.8 g++-4.8 qt5-default

2. install conan via pip

sudo pip install conan

3. add remote to conan

conan remote add lms http://mineforce.de:9300

4. go to your working direktory

cd <your working direktory>

5. clone config_auto_drive

   git clone https://github.com/lms-org/config_auto_drive
   cd config_auto_drive

6. set up submodules

   git submodule init
   git submodule update

7. set up extra submodule in trajectory controller (TODO: remove in future)

   cd external/modules/trajectory_controller/
   git submodule init
   git submodule update
   cd ../../../

8. install ximea_driver

sudo external/modules/ximea_importer/ximea_driver/install

9. create build directory

   mkdir build
   cd build

10. install conan dependencies (grab a coffee ☕) preperations:

    • make sure gcc-4.8 and g++-4.8 are installed.
    • in ~/.conan/profiles/default change the compiler to gcc and the version to 4.8
    • use following command to modify the systems compilers:
    • sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.8 100
    • sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.8 100

then you are ready for:

conan install .. --build=outdated --build=missing

11. turn on optimization (optional)

You may want to turn on code optimization (its faster, but debug may not work). Add an optimization flag (e.g. -O2) in the top level CMakeLists to the CMAKE_CXX_FLAGS flags.

12. compile it

    cmake ..
    make -j<number of cores>

13. add /dev/* symlinks for hokuyo lidar and senseboard and change mode of ximea

    echo 'ACTION=="add", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE="0666", SYMLINK+="senseboard"' | sudo tee /etc/udev/rules.d/98-senseboard.rules
    echo 'KERNEL=="ttyACM[0-9]*", SUBSYSTEM=="tty", SUBSYSTEMS=="usb", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", MODE="0666", SYMLINK+="hokuyo_lidar"' | sudo tee /etc/udev/rules.d/97-hokuyo_lidar.rules
    sudo sed -i -e 's/ATTRS{idProduct}=="3001", GROUP="plugdev"/ATTRS{idProduct}=="3001", MODE="0666", GROUP="plugdev"/g' /etc/udev/rules.d/99-ximea.rules

How to start it?

Look at the *.sh scripts