Setup Player on a Segway RMP

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This guide can be used to intall Player and Stage together with the Segway RMP200 driver. The Original Segway driver in Player/Stage is old and not for the RMP200 model. The driver is based on the instructions by Régis Vincent, but has been modified for suiting the RMP200 model.


Contents

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1. Download player 2.1.x and stage 2.1.1 from the website:

http://sourceforge.net/project/showfiles.php?group_id=42445 and unzip them.

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2. Set the proxy for terminal (if nessecary): 

 export http_proxy=http://<proxyserver>:<port>
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3. Install the nessecsory packages from ubuntu server: 

 sudo apt-get upgrade
 sudo apt-get update
 sudo apt-get install autotools-dev build-essential cpp libboost-dev libboost-thread-dev libboost-thread1.34.1 libboost-signals-dev 
 libboost-signals1.34.1 libgnomecanvas2-0 libgtk2.0-dev libjpeg62-dev libtool swig libgnomecanvas2-dev libgsl0-dev libswscale-dev

Note that there might be new packeges available, e.g. libboost-signals1.38.1 etc. Furthermore, depending on how you configure Player, it might not be necessary to intall all packages, or some additional might be necessary.

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4. Requirements for the Segway driver:

Download FTDI linux driver version 0.4.16 (minimum) : http://www.ftdichip.com/Drivers/D2XX.htm Unzip and untar the file given to a suitable directory: 

 gunzip libftd2xx0.4.16.tar.gz
 tar -xvf libftd2xx0.4.16.tar

Copy file and make symbolic links: 

 sudo cp libftd2xx.so.0.4.16 /usr/local/lib
 cd /usr/local/lib
 ln -s libftd2xx.so.0.4.16 libftd2xx.so
 cd /usr/lib
 ln -s /usr/local/lib/libftd2xx.so.0.4.16 libftd2xx.so

Create a rules file 

 cd /etc/udev/rules.d/
 sudo gedit 99-usbftdi.rules

Enter the following code, then save & close the file: 

 For FTDI FT232 & FT245 USB devices with Vendor ID = 0x0403, Product ID = 0xe729
 SYSFS{idProduct}=="e729", SYSFS{idVendor}=="0403", MODE="666", RUN+="/sbin/modprobe -q ftdi-sio product=0xe729 vendor=0x0403"

The MODE="666" is important. It changes the permissions in /dev/bus/usb such that it is possible to write to the virtual COM port if you are not root. Otherwise you need to run player as root all the time. To instantiate, first plugin the USB cord from the RMP and turn on the RMP. Then run the following command: 

 sudo udevcontrol reload_rules <CR>  (or maybe sudo udevadm control --reload-rules  for newer systems). 
 dmesg | grep FTDI  <CR>

Output should look like this, confirming that the driver was successfully loaded: 

 [   15.768872] drivers/usb/serial/usb-serial.c: USB Serial support registered for FTDI USB Serial Device
 [   15.768927] ftdi_sio 4-1:1.0: FTDI USB Serial Device converter detected
 [   15.769177] usb 4-1: FTDI USB Serial Device converter now attached to ttyUSB0

Remove the brltty driver to access the FTDI Virtual COM port. 

 sudo apt-get remove brltty

Copy files from the downloaded libftd2xx0.4.16 directory and create links: 

 sudo mkdir /usr/local/ftdi
 sudo cp ftd2xx.h /usr/local/ftdi
 sudo cp WinTypes.h /usr/local/ftdi
 sudo ln -s /usr/local/ftdi/ftd2xx.h /usr/include/ftd2xx.h
 sudo ln -s /usr/local/ftdi/WinTypes.h /usr/include/WinTypes.h

Install kvaser canbus driver. Install the BETA version : http://www.kvaser.com/index.htm (under Support/Download - Beta section). It's version 4.72 beta. (installation is simple, make and make install)

Later, when installing player, you might encounter some errors with conflicting types. This can be handled by changing the following lines in the file linuxcan_v4/include/canlib.h 

typedef unsigned int DWORD;
typedef unsigned int HANDLE;
typedef unsigned int BOOL;

to 

typedef unsigned long DWORD;
typedef void* HANDLE;
typedef int BOOL;

...and then compile and install again. Or it might be possible only to change the definitions in /usr/include/canlib.h

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5. Compile player with modified Segway RMP Drivers:

You can either find a compressed version of the new Segway driver here, and follow the instructions in the README file (basically run the script compile_player). Or you can manually follow the steps below:


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Find the modified Segway driver files here and place them in the correct folders:

The first are for changing the position3d interface to be able to get all the state information of the RMP. The last files are the specific drivers. 

 <player-dir>/libplayercore/interfaces/030_positiion3d.def
 <player-dir>/client_libs/libplayerc/dev_position3d.c
 <player-dir>/client_libs/libplayerc++/playerc++.h 
 <player-dir>/client_libs/libplayerc/playerc.h 
 <player-dir>/client_libs/libplayerc++/position3dproxy.cc
 <player-dir>/server/drivers/mixed/rmp/canio.h
 <player-dir>/server/drivers/mixed/rmp/canio_kvaser.h
 <player-dir>/server/drivers/mixed/rmp/canio_rmpusb.h
 <player-dir>/server/drivers/mixed/rmp/segwayrmp.cc
 <player-dir>/server/drivers/mixed/rmp/canio_kvaser.cc
 <player-dir>/server/drivers/mixed/rmp/canio_rmpusb.cc
 <player-dir>/server/drivers/mixed/rmp/Makefile.am 
 <player-dir>/server/drivers/mixed/rmp/Makefile.in 
 <player-dir>/server/drivers/mixed/rmp/rmp_frame.h
 <player-dir>/server/drivers/mixed/rmp/segwayrmp.h
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Configure player:

go to the folder /player-2.1.x 

  ./configure --disable-alldrivers --enable-amcl --enable-mapfile --enable-wavefront --enable-nd --enable-vfh --enable-segwayrmp --enable-rtkgui

Or enable whatever other drivers you need.

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Change a function name:

If you do not use --disable-alldrivers in the configure script, you might encounter a segmentation fault, when trying run player with the segway after the installation. This is because there is a function in the libftd2xx driver, which exactly matches one in Player. Somehow the linker will make sure that it is the one in Player, which is called, when it is the one in libftd2xx, which is needed. To avoid this, change the name of the function check_device in 

 <player-dir>/server/drivers/camera/sphere/setpwc_api.c
 <player-dir>/server/drivers/camera/sphere/setpwc_api.h

to something like cam_check_device


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Make the Segway driver: 

 cd <player-dir>
 make

You will most likely get an error now. Edit the Makefile in server 

  <player-dir>/server/Makefile

Edit Makefile to add -lftd2xx next to -lcanlib (look for -lcanlib and then add -lftd2xx next to it. There should be 3 occurences) 

 make

Note that, if you edit the Makefile before compiling the first time, you will still encounter an error, because the compilation changes the file server/Makefile. The proper thing to do is probably to modify the configure script - you are of cause welcome to do that :-)

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6. Set the Path by changing the bashrc file: 

 echo "" >> ~/.bashrc 
 echo "export PATH=\"\$PATH:/usr/local/bin\"" >> ~/.bashrc 
 echo "export PLAYERPATH=\"\$PATH:/usr/local/share/stage/worlds\"" >> ~/.bashrc
 echo "export LD_LIBRARY_PATH=\"\$LD_LIBRARY_PATH:/usr/local/lib\"" >> ~/.bashrc

Activate bashrc 

 source ~/.bashrc
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7. Installing player and stage:

go to folder player-2.1.x 

 sudo make install

go to the folder stage-2.1.1 

  ./configure 
 sudo make install
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8. Checking if the colour description file is at the right place: 

 if [ -f /usr/X11R6/lib/X11/rgb.txt ];
 then
 echo 
 else
 echo "/usr/X11R6/lib/X11/rgb.txt does not exist - creating a symbolic link"
 sudo ln -s /usr/lib/X11/rgb.txt /usr/X11R6/lib/X11/rgb.txt
 fi
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9. Test:

Start PlayerStage 

 player /usr/local/share/stage/worlds/simple.cfg

if this error occurs: 

 player: error while loading shared libraries: libplayerdrivers.so.2.2: 
 cannot open shared object file: No such file or directory

run ldconfig in the folder player-2.1.x as sudo


You should also be able to control the segway. A test config file can be found here. Depending on how you installed the FTDI and/or kvasar drivers, you might need to run player as root if you have not granted write acces in the udev rules file (see above). 

 $(sudo) player segway_server.cfg
Retrieved from "http://www.control.aau.dk/~tb/wiki/index.php/Setup_Player_on_a_Segway_RMP"
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