Player Stage

Building

• The player that worked with Phidgets
  • Player Stage site
  • player-2.1.0rc1.tar.gz

• After untarred mv to that directory and do

 ./configure
 make
 make install

Hardware

• Phidgets

Start up the player client

• Create the following config file in phidgetIFK.cfg

 driver
 (
   name "phidgetIFK"
   provides ["aio:0" "dio:0"]
   serial -1
   alwayson 1
   samplingrate 16
   alarmtime 21
 )

• From root

 player phidgetIFK.cfg &

Simple Test Program

• The Basic Phidget Sonar Example source in sonar.cc

• The Basic Phidget Sonar Makefile

• Setting the path

 export PKG_CONFIG_PATH=/home/eepp/robotics/player/player-2.1.0rc1/libplayercore/:/home/eepp/robotics/player/player-2.1.0rc1/client_libs/libplayerc/:/home/eepp/robotics/player/player-2.1.0rc1/libplayerxdr:/home/eepp/robotics/player/player-2.1.0rc1/client_libs/libplayerc++/

• • Put it in a file named path and type

 . ./path

• make

Asus Eee

player requires libboost-signals1.33.1 from the Boost C++ Libraries collection.

• sudo aptitude install libboost-signals1.33.1
• libboost_signals-gcc-1_33_1.so.1.33.1 and ...-gcc-mt-1_33_.so.1.33.1 ended up in /usr/lib
• linked to

<base> = path to player-2.1.0rc1 Use sudo in front of each command

• cp <base>/server/.libs/player to Eee /usr/local/bin
• cp <base>/server/libplayerdrivers/.lib/libplayerdrivers.so.2.1.0 to Eee /usr/local/lib
• ln -s libplayerdrivers.so.2.1.0 libplayerdrivers.so.2
• cp <base>/libplayercore/.libs/libplayercore.so.2.1.0 to Eee /usr/local/lib
• ln -s libplayercore.so.2.1.0 libplayercore.so.2
• dido with libplayererror.so.2.1.0
• dido with libplayerutils.so.2.1.0
• dido with <base>/libplayertcp/.libs/libplayertcp.so.2.1.0
• dido with <base>/libplayertcp/.libs/libplayerudp.so.2.1.0
• dido with <base>/libplayerxdr/.libs/libplayerxdr.so.2.1.0
• dido with <base>/libplayerjpeg/libs/libplayerjpeg.so.2.1.0
• dido with <base>/client_libs/libplayerc/.libs/libplayerc.so.2.1.0
• tried
  • sudo aptitude install libcrypto
  • it pointed me to libssl0.9.8
  • tried
  • sudo aptitude install libssl0.9.8
  • didn't worked
• on Eee cp /usr/lib/Adobe/Acrobat7.0/Reader/insellinux/lib/libcrypto.so /usr/local/lib
• ln -s libcrypto.so libcrypto.so.6
• sudo ./player phidgetIFK.cfg &

• cp <base>/client_libs/libplayerc++/.lib/libplayerc++.so.2.1.0 to Eee /usr/local/lib
• ln
• copy sonarView

Discovered the following is important

• rm all links I created in /usr/local/lib
• add /usr/local/lib to the beginning of /etc/ld.so.conf
• sudo ldconfig
• about shared libraries