How to Get Started with Tekkotsu and Open-R on the AIBO by nbb15623


									               How to Get Started with
          Tekkotsu and Open-R on the AIBO
                 Eng. Nuno Miguel Tavares de Sousa
                           8th November 2004

        This document is a How To on using the Tekkotsu and Open-R APIs
     on Sony’s AIBO robot. The document describes the steps necessary to
     setup a GNU/Linux system to develop using these APIs.

1 Introduction                                                             1

2 Installing the Basic Tools                                               2

3 Installing the Open-R SDK                                                2

4 Installing the Tekkotsu Framework                                        2

5 Creating your Project                                                    2

1    Introduction
The goal of this document is to provide an How To guide on using the AIBO and
its Open-R API through Tekkotsu. The Tekkotsu framework was developed by
the Carnegie Mellon University with the purpose of creating a framework that
would enable the abstraction of the underlying robot. The Tekkotsu framework
currently supports the ESR-210, ESR-220 and ESR-7 versions of the robot, with
more emphasis on the ESR-2xx models. This document does not intend by any
means to replace Sony’s or Tekkotsu’s documentation but to provide a simpler
guide to enable students and researchers to get started with the AIBO faster.
    To begin using the AIBO with the Tekkotsu framework with need to perform
the following steps:
Installing the Basic Tools — The AIBO has a MIPS Little Endian CPU.
     Chances are that you do not have a compiler for such a CPU, so you will
     have to install one, along with the other tools to make binaries for the
Installing the Open-R SDK — The Tekkotsu framework is built on top of
     Sony’s OPEN-R SDK. To use the Tekkotsu framework you have to install
     Sony’s Open-R SDK.

Installing the Tekkotsu Framework — After having the basic Open-R SDK
     installed, you should be able to install the Tekkotsu framework.
Creating your Project — Having the Tekkotsu framework may seem suffi-
    cient to start developing for the AIBO, but you have to set-up a project
    that uses the Tekkotsu framework. You can do it the hard way (making
    things from scratch) or use what is provided by the framework, that is,
    the tools, the behaviors, the motion controllers, etc.

2      Installing the Basic Tools
To get started you need to access the AIBO SDE homepage1 , register your
self (you do not have to pay anything) and navigation to the Open-R SDK
download page. You will have to download the OPEN R SDK-1.1.5-r3.tar.gz
file, or a more recent one, and the MIPS cross-development tools.
    The easiest way to setup these tools on a GNU/Linux system is to download
the shell script for building the cross development tools, the source of the GCC,
binutils, newlib and jpegsrc.v6b source files to a common directory. This will
take some time as a cross compiler, among other tools need to be compiled.
At the end you will have the tools installed on the /usr/local/OPEN R SDK/

3      Installing the Open-R SDK
After having the Cross-Development Tools installed, the Open R SDK is in-
stalled by simply decompressing the file downloaded in the /usr/local folder
– this will decompress to the OPEN R SDK folder created for by the cross-
development tools script.
    You need to run the setup-rp-openr script on the /usr/local/OPEN R SDK/-
RP OPEN R/bin folder. This will make the necessary steps to install the Re-
mote Processing OPEN-R API, in case you need it.

4      Installing the Tekkotsu Framework
Download the Tekkotsu Framework from the Tekkotsu website (http://www- Etekkotsu/index.html ). Decompress the framework source code
to the /usr/local directory. Rename the main directory to Tekkotsu to have
a /usr/local/Tekkotsu directory. Although this is not mandatory, it makes it
easier to use the framework since its scripts assume this location.
    There is no compilation of the Tekkotsu Framework, it will be compiled
when you make your project.

5      Creating your Project
To make your own project comply the template provided by the framework. This
can be done by copying the project directory from the Tekkotsu framework to the
    1   menu.php4

directory were your project will reside. After this it is necessary to configure
the Makefile. You need to set the MEMSTICK ROOT to the path were the
memory stick is mounted on Linux (you will need to configure this on Linux).
You can have Tekkotsu generate binaries that run on ERS-210 and ERS-220 or
a specific model. This is done by creating a file named TARGET MODEL in
the Tekkotsu installation directory and indicating the value of the model you
which to support from the following set:

  1. TGT ERS210 — To target the ERS-210 model.
  2. TGT ERS220 — To target the ERS-220 model.
  3. TGT ERS2xx — To target both the ERS-210 and ERS-220 models.

  4. TGT ERS7 — To target the ERS-7 Model.

    You need to setup the wireless interface for the Tekkotsu Monitor tool
to work. This can be achived by creating the project/ms/open-r/system/-
conf/wlandflt.txt file (see the Open-R documentation).
    Now, put a memory stick into the reader and type make newstick and make
update commands. You can put the stick on the AIBO start it up. The AIBO
will boot in emergency stop (see Tekkotsu documentation). You can start the
monitor tool of the Tekkotsu which is in the /usr/loca/Tekkotsu/tools/mon dir-
ecory. Simply type ./ControllerGUI ¡Aibo IP address¿ to biew the controller
GUI (you will need Java 1.4 installed on your system). To make the AIBO
respond to the command you need to double tap its back button to exit the
emergency stop procedure.


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