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Hello! Welcome to our Lab. On this page we This page will guide you through the installation process of our Lab.Here are the stepsthe Lab:
- Install Ubuntu 18.04.3 LTS.https://ubuntu.com/download or
https://tutorials.ubuntu.com/tutorial/tutorial-create-a-usb-stick-on-ubuntu or
https://tutorials.ubuntu.com/tutorial/tutorial-create-a-usb-stick-on-windows - Install updates running
sudo apt update
sudo apt upgrade - Create a folder called 'dev' in your home directory
In this folder clone our cpm software repository into your /dev folder by typing:
cd ~/devCreate the folder '~/dev' and open it in a terminal:
Code Block language bash cd ~ mkdir dev cd dev
Clone the CPM Lab software repository:
git.rwth-aachen.de/CPM/Project/Lab/software.gityou have to enter your git username and passwordCode Block language bash git clone https://
github.com/embedded-software-laboratory/cpm_lab software
- Prepare to run our installation script by getting a license.dat-file for the RTI DDS Connext Service (ask your supervisor if you are a student or get into contact with RTI). This is not required if you are running the eProsima version (which is not yet present in the master branch).
Run our script to install all necessary components. You find our script in the "software" In the software folder you have just cloned . You find it in the folder "install-script-for-ubuntu-setup"you find install.sh.
todo full installation simulation setup only run bash setup_cpm_build_environment.sh bash setup_cpm_build_environment.shCode Block language bash cd software/ sudo bash install.sh
Code Block language bash cd software/ sudo bash install.sh --simulation
What will it install? Unbuntu packages Unbuntu packages Joystick/ Gamepad Joystick/ Gamepad RTI DDS Connext or eProsima RTI DDS Connext or eProsima RTI ARM or eProsima ARM OpenCV 4.0 for the Indoor Positioning System Basler Pylon 5 for the Indoor Positioning System and lab camera
DomianInfo title Change DDS Domain If you want to change the DDS
go toDomain later,
change the corresponding variable
DDS_DOMAIN
in /etc/profile.d/rti_connext_dds.sh.The following domain IDs are used in the CPM Lab:
Domain ID Purpose 21 Lab (main computer, NUCs, vehicles) 61-66 Student computers
file go to:Info title Change RTI license file If you want to update your license file, change the file at: /opt/rti_connext_dds-6.0.0/rti_license.dat Reboot your computer or
open a new terminal and typecd ~/dev; source /etc/profile.d/rti_connext_dds.sh
Run the build script. It will also clone the cpm library so keep your git username and password on handPC.
Optional:
Setup MATLAB. As a student from RWTH, you can do this with a MathWorks account following these instructions.
For RTI DDS: Download the DDS Support Package for MATLAB and install the toolbox. The native DDS addon that ships with MATLAB versions from 2021a only supports Simulink. If you are going to code in MATLAB, install the corresponding package from the link.To use MATLAB with eProsima, look here.
Note Make sure to create a symbolic link to the MATLAB binary during or after the setup!
Run the build script.
For the middleware usage you need to set up environment variables.Use our script. Open it in the "software folder". It can be loaded into your currently running session by typing:full setup only simulation setup Code Block language bash ./build_all.bash
Code Block language bash ./build_all.bash --simulation
. ./environment_variables.bash
Do not set LD_LIBRARY_PATH for the whole system, only for your current shell.
Set your local communication parameters by editing the XML templateYou need to replace the template parameter of the
QOS_LOCAL_COMMUNICATION.xml.template
with the machine's IP address and store the resulting file asQOS_LOCAL_COMMUNICATION.xml
. This file can then be loaded by both the Middleware and your script.Bash example:
# Copy local communication QoS, use correct IP
my_ip=$(ip route get 8.8.8.8 | awk -F"src " 'NR==1{split($2,a," ");print a[1]}')
sed -e "s/TEMPLATE_IP/${my_ip}/g" \
<../QOS_LOCAL_COMMUNICATION.xml.template \
>./QOS_LOCAL_COMMUNICATION.xml
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make sure that the software is up to date and built correctly with
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