Virtual Lab Setup

This page will guide you through the installation process of the Lab:

Clone the CPM Lab software repository:

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. In the software folder you have just cloned you find install.sh.

todo	full installation	simulation setup only
run	cd software/ sudo bash install.sh	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

Change DDS Domain

If you want to change the DDS Domain 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

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 PC.
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.

Make sure to create a symbolic link to the MATLAB binary during or after the setup!
Run the build script.
full setup only simulation setup
./build_all.bash

./build_all.bash --simulation

Troubleshooting

If you
- encounter unexpected errors
- have problems during the building process
- receive an error regarding timing issues of unittests

make sure that the software is up to date and built correctly with

cd ~/dev/software/
git pull 
git clean -xdf 
./build_all.bash

If you ever run build_all.bash as root , you might run into a lot of permission denied errors. You need to delete all files and folders that were created and rerun as your usual user.
If you receive an error like "dds/someheader.h" not found, run the command "rtiddsgen", which should build the necessary cpp-files