larsnystrom / alma

Attention Laser Mechagodzilla Arm

ALMA ReadMe

This is Attention Laser Mechagodzilla Arm.

Ikaros

ALMA runs within the Ikaros infrastructure, which means that you have to install all of Ikaros' dependencies in order to run ALMA. A complete manual of how to install Ikaros can be found at Ikaros website.

External Dependencies (Linux)

To compile ALMA you also need the following libraries installed on your computer:

• OpenCV-2.4.3
• openni-bin-dev-linux-x64-v1.5.4.0 (Unstable)
• nite-bin-linux-x64-v1.5.2.21 (Unstable)
• SensorKinect093-Bin-Linux-x64-v5.1.2.1 (Unstable)

OpenCV can be downloaded at http://opencv.org/ Extract the files in the archive, step into the extracted folder and run the following to compile and install OpenCV:

mkdir Build
cd Build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_PYTHON_SUPPORT=ON ..
make
sudo make install

OpenNI can be downloaded at OpenNI.org. Choose OpenNI Binaries, Unstable and OpenNI Unstable Build for Ubuntu 12.04 x64 (64-bit) v1.5.4.0 (if you're using a 64-bit system).

NITE can also be downloaded at OpenNI.org. Choose OpenNI Compliant Middleware Binaries, Unstable and PrimeSense NITE Unstable Build for Ubuntu 12.04 x64 (64-bit) v1.5.2.21 (if you're using a 64-bit system).

SensorKinect can be downloaded at GitHub. Download the file named SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2 (if you're using a 64-bit system).

OpenNI, NITE and SensorKienct are all installed using the same procedure. Start by extracting the contents of the archives, step into the extracted folder and run:

sudo ./install.sh

There is one bug in OpenNI which will cause problems later on when you are going to compile ALMA. There is some deprecated code in /usr/include/ni/XnPlatform.h which will make OpenNI unable to detect your Linux OS. To fix this bug you have to change linux to __linux__ and i386 to __i386__ in the mentioned file. Four of the lines should look like this:

#elif (__linux__ && (__i386__ || __x86_64__))
    #include "Linux-x86/XnPlatformLinux-x86.h"
#elif (__linux__ && __arm__)
    #include "Linux-Arm/XnPlatformLinux-Arm.h"

Compiling ALMA (Linux)

To compile ALMA, start by stepping into your alma directory and then run:

cd Build
cmake ..
make

Running ALMA (Linux)

You should now be able to run ALMA.

cd ../Bin
./ikaros ./../Examples/alma/alma.ikc

If you would like a web GUI for ALMA you can add the -w flag after ./ikaros. You might also have to run Ikaros as root to allow for it to use the Kinect and Dynamixel devices.