Setup Development Workstation

This page contains instructions on how to install the program. These instructions will go over how to setup a personal computer for development or simulation.

Linux

First install the third party packages:

Ubuntu/Debian:

sudo apt-get install build-essential lua5.1 liblua5.1-0-dev swig libboost1.48-dev

Fedora/YUM:

sudo yum groupinstall "Development Tools"
sudo yum install readline-devel lua-devel swig boost-devel

Then check out the git repository:

git clone https://github.com/UPenn-RoboCup/UPennalizers.git

Webots

If you desire to use the Webots simulator please download from here:

Install Webots

Note that the current code does not run on Webots 7, so it is recommended that you use 6.4.3 for now. The versions beyond 6.4.3 have a different model of the DARwIn OP compared to the one used in our code base.

Nao Robot

If you are going to be using the code on the Nao robots you will need to download the NaoQi SDK and Cross-Compilation Toolchain provided by Aldebaran. For Nao V3.3, version 1.10 is the last tested and verified working NaoQi release we use. For Nao V4, version 1.12.5 is required.

In order to compile the our NaoQi module you need to set the environment variables NaoqiSDK and NaoqiCTC to the path of the extracted NaoQi SDK and CTC respectively.

Mac OSX

There are two techniques - MacPorts and Homebrew

MacPorts

First you will need to install MacPorts. Follow the instructions here.

Install Boost and swig:

sudo port install boost
sudo port install swig

Install Lua:

curl -O http://www.lua.org/ftp/lua-5.1.4.tar.gz
tar -xvf lua-5.1.4.tar.gz
cd lua-5.1.4
make macosx
sudo make install

Homebrew

(This guide is tested with Lion, but is known to work with Snow Leopard, with some version differences, possibly Command Lines Tools not being necessary)

Install XCode 4.3 (or latest version)

Install Command Line Tools for Xcode

Install Homebrew

brew update
brew install lua boost swig

Seeeduino Development

If you need to flash firmware:

Install CrossPack-AVR

Webots

If you desire to use the Webots simulator:

Install Webots

Other Mac considerations

Set up your UDP port to accept larger packet sizes so that the Monitor functionalities work properly:

sudo nano /etc/sysctl.conf

Add these lines to the bottom:

net.inet.udp.recvspace=147456
net.inet.udp.maxdgram=65536

and reboot your computer.

To use webots with larger camera sizes, adjust your system shared memory paramters.

NOTE: This may cause your system to become unstable!

sudo nano /etc/sysctl.conf

These are the important parameters, however, the numbers may vary for your system.

kern.sysv.shmmax=16777216
kern.sysv.shmmin=1
kern.sysv.shmmni=128
kern.sysv.shmseg=32
kern.sysv.shmall=4096

Setup MEX-file Compilation with OSX Lion and Xcode 4.3 (latest)

1. Link Developer Folder which has been moved in latest Xcode

sudo ln -s /Applications/Xcode.app/Contents/Developer /Developer

2. Generate MEX option file in MATLAB

>> mex -setup

choose the one with gcc MEX-files

3. Modify MEX option file

sudo nano ~/.matlab/$(MATLAB_VERSION)/mexopts.sh
Line 166 : CC='gcc' 
Line 167 : SDKROOT='/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.7.sdk'
Line 181 : CXX=g++

Nao Robot

If you plan on using the Nao robot we recommend setting up a virtual machine using the Ubuntu instructions in order get the cross compilation to work correctly. We do not have a way to compile the code natively on a Mac at this time.