Install Fixie

• Look at the README and install the apt-get packages

sudo apt-get install subversion build-essential cmake libglib2.0-dev python-dev python-gtk2 python-scipy python-numpy python-statgrab libgtk2.0-dev mesa-common-dev libgl1-mesa-dev libglu1-mesa-dev freeglut3-dev libcv-dev libcvaux-dev libhighgui-dev libjpeg-dev libsuitesparse-dev libftdi-dev libusb-1.0-0-dev autopoint libtool autoconf gtk-doc-tools

Also: sudo apt-get install libeigen3-dev

• Download Fixie repository at revision 611: https://svn.csail.mit.edu/Fixie
  • Username: abarry
  • Passwd: listed on an email from Adam on 2/21/11, search for "The RRBT code is in Fixie/fixie/rrbt"

svn co https://svn.csail.mit.edu/Fixie -r 611

• Update for libbot directory tree:

mv external_libs/libbot2/trunk/* external_libs/libbot2/

• Work on external_libs/common/ to get eigen-utils to build (make clean then make)

• Insert #include <unistd.h> at the top of:

  • drivers/microstrain_comm/src/microstarin_comm.cpp
  • drivers/vicon/src/vicon_client.cpp
  • fixie_utils/lcm-serial-tunnel/src/lcm-serial-tunnel.cpp

• Run make for externals:

make -C depends/opencv-latest-pod
make -C depends/Eigen_pod

• Add symlink to lcmtypes_plane_rlg.pc in build/lib/pkgconfig:

ln -s /home/$USER/realtime/LCM/lcmtypes_plane_rlg.pc .

• Edit lcmtypes_plane_rlg.pc to use your username:

sed -i 's/odroid/abarry/g' /home/$USER/realtime/LCM/lcmtypes_plane_rlg.pc

• Comment out (in the tobuild.txt file):
  • drivers/hokuyo
  • drivers/dsm_direct
  • mav/mav-maping/scanmatch

sed -i 's/dsm_direct/#dsm_direct/g' drivers/tobuild.txt
sed -i 's/hokuyo/#hokuyo/g' drivers/tobuild.txt
sed -i 's/scanmatch/#scanmatch/g' mav/mav-mapping/tobuild.txt

• Patch in my patchfile for the state estimator:

cd mav/mav-state-estimator