D4.4 KheperaIII_Driver_User - K
Contents
1. Fig 2 5 US sensors definitions in Kheperalll inc file Finally the robot size and motor type here selected as a differential drive for the Khepera Ill and an image representing the robot in the simulation was Fig 2 6 and 2 7 define khepera position drive diff omni car differential steering model drive diff actual size size 0 156 0 156 8 25 Khepera III drivers for Player Stage Sines User s Programmer s Manual for the Software package oN Deliverable 4 4 Software Package A RI Cram the khepera s center of rotation is at its center of origin 0 0 0 0 0 bitmap bitmaps kh3 png use the ir array defined above khepera_ir and the us array khepera_us Fig 2 6 robot description in Kheperalll inc file ere k A mi BB A 3 aan j ee Fig 2 7 Khepera Ill robot image for simulator 2 1 4 Map defining simulated world limits In the map inc file the definition of the simulated world are defined define map model sombre sensible artistic color black most maps will need a bounding box boundary 1 gui_nose 1 9 25 oN Deliverable 4 4 Software Package GU ARD IANS Khepera III drivers for Player Stage ream gt gt gt User s Programmer s Manual for the Software package gui_grid 1 gui_movemask 0 gui_outline 0 gripper_return 0 Fig 2 8 virtual world definition for simulator 2 1 5 Client compilation2. K Team Switzerland D4 4 Software package Khepera III drivers for Player Stage Rafa Lopez Robotnik Automation S L L Spain D4 1 D4 2 Preliminary System Architectural Design and Software Architecture Angstr m distribution of OpenEmbedded Linux http Avww angstrom distribution org building C3 AS5ngstr C3 BEmM Leo Nondedeu UJI Spain D2 1 3 4 The navigation capabilities of the robot platforms for the selected scenario and common API specifications for the robot platforms SHU University UK Guardians Wik Khepera III page http vision eng shu ac uk quardians index php Khepera_Ill Player Stage website htto playerstage sourceforge net K Team Switzerland Khepera III user s manual htto ftp k team com Kheperalll Kh3 Robot UserManual 2 2 pdf K Team Switzerland Khepera III Player Stage software driver htto ftp k team com Kheperalll olayer_stage K Team Switzerland Korebot software development toolchain 2 6 http ftp k team com korebot toolchain 2 6 beta VO 1 21 25 Deliverable 4 4 Software Package A Khepera III drivers for Player Stage ream gt gt gt Sana tens User s Programmer s Manual for the Software package 4 Annexes In this part the detailed descriptions of several tools and helpful commands are explained 4 1 Using a Wireless compact flash card Two wireless compact flash models are supported The card name and its driver are listed below A Ambicom WL110
3. wpa_supplicant c etc wpa_supplicant wpa_supplicant conf i wlan0 Dwext B You can also add the command above to a file in etc network if pre up d named wireless bin sh ifconfig wlan0 up ifconfig wlan0 YOUR_IP_ADDRESS route add default gw YOUR_GATEWAY wlan0O wpa_supplicant c etc wpa_supplicant wpa_supplicant conf i wlan0 Dwext B 4 2 Connecting to the Korebot with network over usb cable a launch the usb module on the Korebot modprobe g_ether 24 25 a Deliverable 4 4 Software Package A fos GUARDIANS Khepera III drivers for Player Stage ream gt gt gt User s Programmer s Manual for the Software package b connect the computer to the Korebot USB slave port with an USB cable c configure the usb port on the Korebot ifconfig usb0O 10 0 0 2 24 d on the computer configure also the usb port you must be root or use sudo ifconfig usbO 10 0 0 1 24 4 3 Transferring files using scp ssh 1 Establish a network connection between the computer and the korebot using Wifi see chapter Using a Wireless compact flash card or using Ethernet over usb see chapter Connecting to the Korebot with network over usb cable 2 Execute the following command where FILE is the file to transfer KOREBOT_IP the Korebot ip address scp FILE root KOREBOT_IP home root 25 25
4. 15 publishing position parameters 2 2 3 Installing using and modifying rebuilding the driver Thereafter the instructions for installing using and modifying rebuilding the driver Player Stage for Khepera Ill are described Three parts are available e Installing the compiled version and usage e Modifying and rebuilding the driver of Player e Rebuilding the player server for Khepera3 for example adding a build in driver 2 2 3 1 Installing and using Player on the Khepera 3 The required hardware and software to install and use the driver are described below 15 25 a Deliverable 4 4 Software Package A fos GUARDIANS Khepera III drivers for Player Stage ream gt gt gt User s Programmer s Manual for the Software package Required hardware To use the Khepera 3 driver you must have these components e Khepera 3 with KorebotLE e Computer and wireless Wifi network Il Required software e linux operating system version 2 6 x on the computer e Player Stage version 2 1 1 installed on the computer 7 e Kernel 2 6 x on the KorebotLE e from the binaries directory of the Khepera 3 Player Stage driver 9 Kheperalll cfg Kheperalll so libltdi3_1 5 10 r3_armv5te ipk libstdc 6_4 1 1 r16_armv5te ipk player_2 1 1 r0_armv5te ipk Installation procedure Here after the procedure for installing and using the driver is described 1 Power up the Khepera 3 2 Establish a network connection with the Khepera 3 either
5. 2 D simulator for robots 3 25 oN Deliverable 4 4 Software Package A F Kream gt gt gt A Khepera III drivers for Player Stage Senta s User s Programmer s Manual for the Software package 2 Implementation The driver developed for the Khepera III robot has two different versions e Aversion used for doing simulation e Another version running on the real robot 2 1 Version for simulations purpose This version of the software driver is for simulating the Khepera III robot in the Player Stage environment The required hardware and software to install and use the driver are described below I Required hardware e Computer with Linux operating system kernel version 2 6 Il Required software e Player Stage version 2 1 1 installed on the computer 7 The files created for the simulator specific to the Khepera Ill are listed below in table 2 1 Filename description bitmaps cave png map of the virtual world bitmaps kh3 png Image of the virtual Khepera III kheperalll cfg Player server configuration file kheperalll inc Definitions of robot devices kheperalll world Simulation parameters sonarobstacleavoid cc Example of client doing obstacle avoidance sonarobstacleavoid Client executable Table 2 1 files description 2 1 1 Configuration The configuration of the simulator is done with text files having a specific format They are parsed by Player Stage 4 25 Khepera III drive
6. After having installed Player Stage the client software sonarobstacleavoid can be compiled with the following command g o sonarobstacleavoid pkg config cflags playerc sonarobstacleavoid cc pkg config libs playerc 2 1 6 Running the simulation You can run a simulation with the commands lines below Export the library path export LD_LIBRARY_PATH usr local ib LD_LIBRARY_PATH Run the player server player Kheperalll cfg amp Open the simulation window fig 2 9 with the command below playerv p 6665 position2d sonar 0 sonar 1 Run the player client which contains an algorithm of obstacle avoidance sonarobstacleavoid 10 25 Deliverable 4 4 Software Package Khepera III drivers for Player Stage ream gt gt gt Senate ae User s Programmer s Manual for the Software package a A Stage worldfile test Kheperalll Edit View Clock Help MDEE LLUNIA L Ee IA foz ie AUIANDUNIAS pe CA CA A CA A A A A ee ma FA s y or ta CMT we Gerome Qarr t i nN NRE ae Hl E ppu a tE os Time 0 0 05 41 800 sim real 0 45 subs 4 Stage v2 0 3 Fig 2 9 Simulation window 11 25 AY Deliverable 4 4 Software Package ss i TEAM gt gt gt GUARDIANS Khepera i drivers for Player Stage I lt f User s Programmer s Manual for the Software package 2 2 Version running on the real robot This version of the software driver is for using the real Khepera
7. by wifi 4 1 or with the serial cable see 8 chapter 4 2 3 Copy and install the 3 following packages on the korebot command for copying with ssh see Annexe 4 3 scp FILE root KHEPERA_IP_ADDRESS home root installation procedure ipkg install PACKAGE_NAME packages files e libstdc 6_4 1 1 r16_armv5te ipk e ibltdi3_1 5 10 r3_armv5te ipk e player_2 1 1 r0_armv5te ipk 16 25 oN Deliverable 4 4 Software Package Gn aa Khepera III drivers for Player Stage TEAM gt gt gt GUARDIANS 77 User s Programmer s Manual for the Software package Remark If there is not enough free space delete each package after installation 4 Copy Kheperalll so and Kheperalll cfg on the korebot Usage 1 Onthe KoreBot launch the server player Kheperalll cfg 2 Onthe computer with Player 2 1 1 installed in a terminal export the library path and launch the viewer export LD_LIBRARY_PATH usr local lib LD_LIBRARY_PATH playerv h IP_ADDRESS_OF_THE_ROBOT ir 0 position2d 0 sonar 0 power 0 3 You can drive the robot with the playerv interface fig 2 16 Go to Devices Position2d and select Command gt A red cross appears on the robot Move this red cross to drive the robot PlayerViewer localhost 6665 O jx File View Devices pose x 0 000 y 0 000 a 0 000 velocity x 0 000 y 0 000 a 0 000 Figrue 2 16 PlayerViewer graphical interface 2 2 3 2 Modifying and rebuilding the driver from so
8. defining the robot geometry and another containing the sensors data which will be send to the client At the first request the setup method is called to initialise the hardware then the main method is launched in a separate thread The unsubscribe method is invoqued when the client does not need anymore the ressource and deconnects itself from the interface When all the interfaces are freed the shutdown method is call which stops the thread and stops the robot Here after are the two types of structure defined in Kheperalll h These structures are derived from standards structures defined in Player fig 2 11 and 2 12 struct player_kh3_geom double scale double encoder_res player_position2d_geom_t position player_ir_pose_t ir player_sonar_geom_t sonar double ir_calib_a 13 25 Khepera III drivers for Player Stage Stent eae User s Programmer s Manual for the Software package oN Deliverable 4 4 Software Package A Gam gt gt gt w double ir_calib_b _ attribute __ packed typedef struct player_kh3_geom player_kh3_geom_t Fig 2 11 player_kh3_geom in Kheperalll h struct player_kh3_data player_position2d_data_t position pos vel stall player_ir_data_t ir player_sonar_data_t sonar ranges_count ranges player_power_data_t power player_aio_data_t aio __attribute___ packed typedef struct player_kh3_data player_kh3_data_t Fig 2 12 p
9. 056 0 050 42 spose 6 0 019 0 071 75 spose 7 0 043 0 054 142 spose 8 0 061 0 180 define the size of each TCRT5000 transducer xsize ysize in meters Has no effect on the data but controls how the sensor looks in the Stage ssize 0 007 0 017 define the field of view of each transducer range_min range_max view_angle view_angle has no effect on player stage 2 0 1 sview 0 0 20 20 7 25 Khepera III drivers for Player Stage Stee User s Programmer s Manual for the Software package oN Deliverable 4 4 Software Package A Gam gt gt gt w per transducer version of the sview property Overrides the common setting sview 9 0 02 0 04 3 Fig 2 4 IR sensors definitions in Kheperalll inc file The Ultrasonic sensors US of the robot are described in an analogue way to the infrared sensors fig 2 6 define khepera_us ranger The number of range transducers scount 5 Poses of the US m m deg for each one spose 0 0 000 0 075 90 spose 1 0 053 0 053 45 spose 2 0 075 0 000 0 spose 3 0 053 0 053 45 spose 4 0 000 0 075 90 define the size of each 400ST100 and 400SR100 xsize ysize in meters Has no effect on the data but controls how the sensor looks in the Stage ssize 0 010 0 020 define the field of view of each transducer in meters range_min range_max view_angle view_angle has no effect on player stage 2 0 1 sview 0 20 4 35
10. 0C CF with pxa2xx_cs driver module B Ambicom WL5400G CF with libertas_cs driver module Remark The following instructions are for the wireless compact flash A Ambicom WL1100C CF With the model B WL5400G CF you have to update your kernel and the driver as described at htto ftp k team com korebot kernel kernel2 6 25 7 kb1 Kernel2 6 25 7 kbi WifiG support txt Then you may replace the wireless port name wlan0 by eth in the following instructions 1 insert a Wireless compact flash card in the Korebot 2 load the module by typing modprobe pxa2xx_cs You may load the Wifi module automatically by adding pxa2xx_cs in the file etc modules You can use the following command echo to add the module name to the file echo pxa2xx_cs gt gt etc modules 3 i WEP support a for configuring the wifi connection type iwconfig wlan0 essid YOUR_SSID_OF_NETWORK b if the network is secured enter the key by typing iwconfig wlan0 key YOUR_KEY c then set an ip address to the korebot ifconfig wlan0 YOUR_IP_ADDRESS 22 25 a Deliverable 4 4 Software Package A fos GUARDIANS Khepera III drivers for Player Stage ream gt gt gt User s Programmer s Manual for the Software package d configure the gateway by entering the gateway ip route add default gw YOUR_GATEWAY_IP wlan0 e insert the local domain name in etc resolv conf echo search YOUR_LOCAL_DOMAIN_NAME gt gt etc resolv conf f and the dns server ec
11. III robot 2 2 1 Concept and principle of functioning of the driver A Player driver is a class inherited from the Driver class When the Player server is launched the configuration file is read the Kheperalll driver launched The class constructor is called which declares the different devices defined in the configuration file Player is listening on the network tcp ip ports and wait until client are connected fig 2 10 At every request from the client to use an interface the subscribe method is invoqued The interface is used to define the synthax and the semantic of all the message exchanged with entities of a same class The interface defined by the Guardians project is depicted in table 2 2 Player Stage layer player position2d data state data_state return s retum speed odometry data motor state odometry data motor state Motor speed cmd playe player position2d data state u return speed odometry data motor state F wheel odometry Position2D player_position2d_reg_get_geom __ return robot geometry robot geometry player_position2d_cmd_vel set a new speed value IR sensors Sonar sensors Sonar Table 2 2 Player Stage interfaces and messages 12 25 Deliverable 4 4 Software Package Khepera III drivers for Player Stage iGream gt gt gt GUARDIANS I E User s Programmer s Manual for the Software package roy S Fig 2 10 Player Stage driver functioning principle Two structures are used
12. a Deliverable 4 4 Software Package A fos GUARDIANS Khepera III drivers for Player Stage ream gt gt gt User s Programmer s Manual for the Software package D4 4 Software package Khepera III drivers for Player Stage User s Programmer s Manual for the Software package Planned date M24 Actual delivery 2009 April 06 K Team SA Julien Tharin jtharin k team com 1 25 oN Deliverable 4 4 Software Package A Gam gt gt gt A Khepera III drivers for Player Stage Sees User s Programmer s Manual for the Software package Contents COntentS sinnir aKo EO RaKa T EK EKEREN 2 To MUU tse a Ei Raai 3 2 NIPVOUS NGI NO poste ects cerererereeeteecldere Sareea tcalcuen decease diabauanteeneu lt sioatauetucemeentiay 4 2 1 Version for simulations DUIPOSO Sesser ecient 4 2 1 1 Config ratON cieri aaa aae nn aa rere 4 2 1 2 Virtual world configuration Tile s0ccece ates 5 2 1 3 Robot geometry and sensors POSiItiOnS ccceceeeeeeeeeeeteeeeeeeeeeeeeees 7 2 1 4 Map defining simulated world limits ccceeeeeeeeeeeeeeteeeeeeeeeeeeeeees 9 2 1 5 Client compilation aise saseesceta case cd sass weacupeatesissssnecepeadecueetaisanaseceeusiy 10 2 1 6 Running the simulation Sosencresstcnernctescncnt cencnnneunimsanadapennatannenetdaandesatenney 10 2 2 Version running on the real rODOt ccecccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeees 12 2 2 1 Concept and principle of functioning of the driv
13. elopment tools of korebot 2 6 10 e Kernel 2 6 on the Korebot e from the source directory of the directory of the Khepera 3 Player Stage driver 9 bitbake recipe player oe tar bz2 Build procedure Here after the procedure for rebuilding the Player server for Khepera III is described 1 Install the full development tools for korebot 2 6 if not already done 2 Extract the recipe player oe tar bz2 in usr local korebot oetools 1 0 You can modify it to add a build in driver by example urglaser Edit the variable EXTRA_OECONF in the file usr local korebot oetools 1 0 custom packages player player_2 1 1 bb EXTRA_OECONF disable alldrivers enable urglaser 3 Compile player in usr local korebot oetools 1 0 custom execute start build sh build player gt The ouput packages will be in usr local korebot oetools 1 0 build tmp deploy glibc ipk armv5te libstdc 6_4 1 1 r16_armv5te ipk libltdI3_1 5 10 r3_armv5te ipk armv5te player_2 1 1 r0_armv5te ipk 4 Copy and install the packages as described in chapter 2 2 3 1 20 25 a Deliverable 4 4 Software Package A fas GUARDIANS Khepera III drivers for Player Stage ream gt gt gt 1 2 3 4 5 6 7 8 9 10 User s Programmer s Manual for the Software package References K Team Switzerland Khepera III homepage http www k team com kteam index php site 1 amp rub 22 amp page 197 amp version EN Julien Tharin
14. er ceeceeeeees 12 2 2 2 Data read from the configuration file cccceeeeeeeeeeeeeeeeeeeeteeeeeeees 14 2 2 3 Installing using and modifying rebuilding the driver 0eee 15 Jem TACTICS S en e E E E E E E E E 21 de ANNEXES oa cee teee 22 4 1 Using a Wireless compact flash card voceicvccesnsceaccenrcierccusencetarevecodenereredexiees 22 4 2 Connecting to the Korebot with network over usb cable ccceeeee 24 4 3 Transferring files USING SCD SSI xiduescieccencssiveedeeinnierratien iets 25 2 25 AY Deliverable 4 4 Software Package GU ARD IANS Khepera III drivers for Player Stage ream gt gt gt User s Programmer s Manual for the Software package 1 Introduction This document consists of the User s Programmer s manual for the software driver for the Khepera III robot 1 running with Player Stage The presentation and the method used to build this Player Stage software driver is described in 2 The driver software can be found from the Wiki website of the Guardians project 6 Player Stage is a free robotic framework software and simulator It was developed by the University of Southern California It is used in the Guardians project as the main upper level software for all the different robots 3 Player is a TCP IP server running on the robot It furnishes standard interfaces to the different robot components through a network Stage which is a Player plug in is a
15. er s Programmer s Manual for the Software package 2 Extract the player_driver_dev tar bz2 file and enter into it It will be your base directory tar xjvf player_driver_dev tar bz2 3 Modify KTEAM_HOME variable in the env sh file to point this directory 4 Extract the khepera toolbox in the base directory unzip khepera3toolbox 2008 05 05 zip 5 In the toobox directory patch the toolbox patch p1 lt khepera3toolbox diff 6 Source the env sh file to have access to the cross compiler source env sh 7 Compile the following modules of the toolbox e i2cal khepera3 odometry_goto e odometry_track commands for each module MODULE_NAME cd Modules MODULE_NAME make 8 Extract kh3 plugin 2009 03 16 tar bz2 in the base directory You can start here to modify the driver The description is explained in chapter 2 2 1 9 In kh8 plugin directory compile by running the command make If there is any problem verify the Makefile 10 Then transfer the files Kheperalll so and Kheperalll cfg to the Korebot 2 2 3 3 Rebuilding the player server for Khepera3 i Required hardware To modify and rebuild the Khepera 3 driver you must have these components 19 25 a Deliverable 4 4 Software Package A fos GUARDIANS Khepera III drivers for Player Stage ream gt gt gt User s Programmer s Manual for the Software package e Khepera 3 with KorebotLE e Computer and wireless Wifi network ii Required software e full dev
16. gt gt w name worldfile_test_Kheperalll the amount of real world time the simulator will attempt to spend on each simulation cycle interval_real 100 the length of each simulation update cycle in milliseconds interval_sim 100 the amount of real world time between GUI updates gui_interval 100 specifies the resolution m of the underlying bitmap model resolution 0 005 configure the GUI window window size 600 000 450 000 center 0 0 0 0 scale 0 015 load an environment bitmap map bitmap bitmaps cave png size 8 5 5 8 name cave create a kh3 robot khepera name myKh3_1 color blue pose 1 0 0 model size 0 3 0 2 color green pose 0 000 1 250 0 000 Fig 2 2 kheperalll world configuration file 6 25 oN Deliverable 4 4 Software Package A F Crama Khepera III drivers for Player Stage MU ARDLAN S User s Programmer s Manual for the Software package z g sanding J Fig 2 3 World map 2 1 3 Robot geometry and sensors positions In the Kheperalll inc the robot definition is described It contains the number and position of the IR sensors Fig 2 4 define khepera_ir ranger The number of range transducers scount 9 Poses of the IRs m m deg for each one spose 0 0 043 0 054 128 spose 1 0 019 0 071 75 spose 2 0 056 0 050 42 spose 3 0 075 0 017 13 spose 4 0 075 0 017 13 spose 5 0
17. ho nameserver YOUR_DNS_SERVER_IP_ADDRESS gt gt etc resolv cont You can also create a file in etc network if pre up d named wireless to have these settings saved Put the following into it bin sh ifconfig wlan0 up iwconfig wlan0 essid YOUR_SSID_OF_NETWORK iwconfig wlan0 key s YOUR_KEY ifconfig wlan0 YOUR_IP_ADDRESS route add default gw YOUR_GATEWAY_IP wlan0 And the following in a file named etc resolv conf search YOUR_LOCAL_DOMAIN_NAME nameserver YOUR_DNS_SERVER_IP_ADDRESS ii WEP WPA and other encryptions a create a file named etc wpa_supplicant wpa_supplicant conf and insert your selected wireless encryption WEP Shared WEP key connection no WPA network ssid YOUR_SSID key_mgmt NONE wep_key0 YOUR_WEP_KEY auth_alg SHARED wep_tx_keyidx 0 priority 5 WPA TKIP see instructions at http ftp k team com korebot kernel modules wpa tkip wpa tkip support txt 23 25 a Deliverable 4 4 Software Package A fos GUARDIANS Khepera III drivers for Player Stage ream gt gt gt User s Programmer s Manual for the Software package etc wpa_supplicant wpa_supplicant conf with WPA PSK TKIT network ssid YOUR_SSID psk YOUR_PASS_KEY key_mgmt WPA PSK group TKIP pairwise TKIP proto WPA priority 5 You can check the following link for other encryptions http hostap epitest fiiwpa_supplicant b run the daemon controlling the wireless connection with the following command
18. layer_kh3_data in Kheperalll h 2 2 2 Data read from the configuration file In the ibplayercore of Player the configFile class includes methods to parse the configuration file Here after is an example reading a real number kh3Geom sscale cf gt ReadFloat section scale_factor KH3_ DEFAULT_SCALE And here is the way for reading the IR parameters for unsigned int i 0 i lt kn83Geom sir poses_count i kh38Geom gt ir poses i px cf gt ReadTupleFloat section ir_poses 3 i 0 0 kn3Geom gt scale kh3Geom gt ir poses i py cf gt ReadTupleFloat section ir_poses 3 i 1 0 kn3Geom gt scale 14 25 Khepera III drivers for Player Stage User s Programmer s Manual for the Software package GUARDIANS oN Deliverable 4 4 Software Package A F Cpap w kh3Geom gt ir poses i pa DTOR cf gt ReadTupleFloat section ir_poses 3 i 2 0 Fig 2 13 reading IR parameters These data will be returned to the client from the following way by using the PLAYER_IR_POSE message Publish ir_addr resp_queue PLAYER_MSGTYPE_RESP_ACK PLAYER_IR_POSE void amp kh3Geom gt ir sizeof kh3Geom gt ir NULL Fig 2 14 publishing IR parameters For returning the position to the client the Publish method is used fig 2 15 Publish position_addr NULL PLAYER_MSGTYPE_DATA PLAYER_POSITION2D_DATA_STATE void amp kh3Data gt position sizeof kh3Data gt position NULL Fig 2
19. rs for Player Stage GUARDING User s Programmer s Manual for the Software package oN Deliverable 4 4 Software Package A Gam gt gt gt A Aii In Kheperalll cfg the simulator is loaded then the components available to the clients are described fig 2 1 Desc Player sample configuration file for controlling Stage devices Author Frederic Benninger lt frederic benninger lausanne ch gt Date 06 03 2007 load the Stage plugin simulation driver driver name stage provides simulation 0 plugin libstageplugin load the named file into the simulator worldfile kheperalll world Create a Stage driver and attach position2d and Sonar IR interfaces to the model myKh3 driver name stage provides position2d 0 sonar 0 model myKh3 Fig 2 1 Kheperalll cfg configuration file 2 1 2 Virtual world configuration file The configuration of the simulated 2D world is defined in kheperall world fig 2 2 It includes simulation step size window size position An image describing impassible obstacles is used as map fig 2 3 defines map object used for floorplans include map inc defines Kheperalll robot include kheperalll inc the name of the world as displayed in the window title bar 9 25 Khepera III drivers for Player Stage Stee User s Programmer s Manual for the Software package oN Deliverable 4 4 Software Package A Gam gt
20. urce To modify and rebuild the Khepera 3 driver you must have these components i Required hardware 17 25 a Deliverable 4 4 Software Package A fos GUARDIANS Khepera III drivers for Player Stage ream gt gt gt User s Programmer s Manual for the Software package e Khepera 3 with KorebotLE e Computer and wireless Wifi network ii Required software e linux operating system version 2 6 x on the computer e Player Stage version 2 1 1 installed on the computer 7 e Kernel 2 6 x on the KorebotLE e Korebot 2 6 development toolchain installed on the computer see 10 for installation procedure e from the source directory of the directory of the Khepera 3 Player Stage driver 9 khepera3toolbox 2008 05 05 zip khepera3toolbox diff ibtool1 5 10_lib tar bz2 player2 1 1_include tar bz2 player2 1 1_lib tar bz2 player_driver_dev tar oz2 kh3 plugin 2009 03 16 tar oz2 Build procedure Here after the procedure for rebuilding the driver is described 1 Extract the 3 following files in the base directory you must be root These files are installed in the cross compiler sub directory Command for extracting any compacted file into the base directory tar xjvf COMPACTED_FILE tar bz2 C files e player2 1 1_include tar bz2 e player2 1 1_lib tar bz2 e Jibtool1 5 10_lib tar bz2 18 25 AY Deliverable 4 4 Software Package GU ARD IANS Khepera III drivers for Player Stage ream gt gt gt Us
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