Difference between revisions of "CORO Software Development Environment"
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− | This | + | This page provides a step-by-step guide to downloading, installing, and using the software required to run the robot vision and robot manipulation demonstration software [http://www.vernon.eu/cognitive_robotics/index.htm Introduction to Cognitive Robotics] on a physical Lynxmotion AL5D robot and a USB camera. This software runs on Windows 10. |
− | + | There is a separate guide for the software that runs on Ubuntu and uses robot simulators, i.e. the mobile robot, robot manipulation, robot vision, and CRAM software using ROS. | |
− | + | <span style="color:#FF0000"> Follow these instructions exactly as they are stated. Do not be tempted to skip through them, assuming that you will be able to figure it out yourself. You might, but it is more likely you will miss something small but important and it won't work as required. Take your time, follow these instructions carefully, and everything will work. | |
+ | |||
+ | |||
+ | === Operating System === | ||
− | I | + | I assume you are running Windows 10. |
− | + | I strongly recommend you turn off the option in Windows Explorer to hide file extensions. To do this, open File Explorer, click the View tab and click on the file name extensions checkbox so that it shows a tick. If it is ticked, you will have problems identifying certain files later on (e.g. invoking the <code>example.sln</code> solution file to launch the C++ compiler). | |
=== C/C++ Compiler === | === C/C++ Compiler === | ||
Line 17: | Line 20: | ||
Run the installer and follow the instructions. | Run the installer and follow the instructions. | ||
− | + | You will need to register Visual C++ 2010 Express to continue using beyond the initial 30-day evaluation period. To do this, from the Microsoft Visual C++ 2010 Express menu, select ''Help > Register Product''. A pop-up will be displayed. Click on the Obtain a registration key online button. You will then have to log in to your Microsoft account, if you have one, or create a new one, if you don't. After filling in some forms you will receive the product key which you enter into the dialogue box that popped up when you selected ''Help > Register Product''. If you see an error message as shown below, click on the Microsoft icon on the top left corner of the page. This will redirect you to the Microsoft’s login page. Log into your Microsoft account from here and begin the process again, i.e. select ''Help > Register Product''. For more detailed instructions, see [http://www.vernon.eu/DSA/Registration_Key_Error_Resolution.pdf here]. | |
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− | Microsoft | + | |
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=== CMake === | === CMake === | ||
− | Download CMake binaries from [http://www.cmake.org/download/ here]. At time of writing the latest version is 3. | + | Download CMake binaries from [http://www.cmake.org/download/ here]. At time of writing the latest version is 3.16.2. |
<!-- Download CMake 2.8.10-RC3 binaries from [https://cmake.org/files/v2.8/cmake-2.8.10-rc3-win32-x86.exe here] --> | <!-- Download CMake 2.8.10-RC3 binaries from [https://cmake.org/files/v2.8/cmake-2.8.10-rc3-win32-x86.exe here] --> | ||
− | You can opt for either the WIN32 installer (cmake-3. | + | You can opt for either the WIN32 installer (cmake-3.16.2-win32-x86.msi) or the Windows zip file. The installer has the advantage that it gives you the option to update your system path automatically (which you should take by clicking the appropriate radio button during the installation process). If you choose the installer option, note that if you already have CMake version 3.4 or earlier you much uninstall it first. |
− | + | ||
=== OpenCV === | === OpenCV === | ||
− | Download and install OpenCV from [https://sourceforge.net/projects/opencvlibrary/files/opencv-win/2.4. | + | Download and install OpenCV from [https://sourceforge.net/projects/opencvlibrary/files/opencv-win/2.4.10/ here]. Choose the version 2.4.10 self-installer, download it, and execute it, and extract the library to <code>C:</code> so that you have a directory <code>C:\opencv</code>. If you have problems downloading this version from SourceForge site, you can download version 2.4.10 from [http://www.vernon.eu/downloads/opencv-2.4.10.exe here]. |
Add <code>C:\opencv\build\x86\vc10\bin</code> to the <code>PATH</code> environment variable and add a new environment variable <code>OPENCV_DIR</code> with the value <code>C:\opencv\build</code>, as follows. | Add <code>C:\opencv\build\x86\vc10\bin</code> to the <code>PATH</code> environment variable and add a new environment variable <code>OPENCV_DIR</code> with the value <code>C:\opencv\build</code>, as follows. | ||
− | From Windows | + | * From Windows 10 toolbar, select ''Settings''. |
− | Click ''Environment Variables'' | + | * Type ''Environment Variables'' in the ''Find a Setting'' dialogue box. This will bring up a new ''Systems Properties'' window. |
− | Select ' | + | * Click the ''Environment Variables ...'' button. This will bring up a new ''Environment Variables'' window. |
− | Click ''Edit'' | + | * Select ''Path'' from ''System Variables''. Click ''Edit''. Click ''New'' and insert <code>C:\opencv\build\x86\vc10\bin</code>. Click ''OK''. |
− | + | * Under ''User variables'', click ''New''. Insert <code>OPENCV_DIR</code> in the ''Variable name'' box and <code>C:\opencv\build</code> in the ''Variable value'' box. Click ''OK''. | |
− | Under ''User variables'', click ''New'' | + | * Click ''OK'' in the ''Environment Variables'' window. |
− | Insert <code>OPENCV_DIR</code> in the ''Variable name'' box and <code>C:\opencv\build</code> in the ''Variable value'' box | + | * Click ''OK'' in the ''Systems Properties'' window. |
− | Click ''OK'' | + | |
+ | === CORO Repository === | ||
− | + | Copy the CORO repository to the <code>C:</code> drive: | |
− | + | * Download a zip archive with all the files from [http://www.vernon.eu/cognitive_robotics/CORO.zip here]. | |
+ | * Copy it to <code>C:</code> drive and unzip it so that you have a directory called <code>C:\CORO</code>. | ||
− | + | <code>C:\CORO</code> has with a sub-directory structure explained in the course notes. For our purposes here, there is an <code>C:\CORO\assignments</code> directory and it will contain an example <code>C:\CORO\assignments\assignment0</code> sub-directory. Later on, you will generate <code>C:\CORO\assignments\assignment1</code> and <code>C:\CORO\assignments\assignment2</code>, and so on. | |
− | + | ||
+ | There is also a <code>C:\CORO\lectures</code> sub-directory. This has code from the lectures: the source code is in the <code>C:\CORO\lectures\src</code> sub-directory and test data is in the <code>C:\CORO\lectures\data</code> sub-directory. | ||
− | <code> | + | The next step is to build a MSVC++ <code>.sln</code> solution file so that you can compile the CORO assignment0 executable. To do this, you need to run CMake against the <code>C:\CORO\assignments\assignment0</code> directory (where you will find the main <code>CMakeLists.txt</code> file). We use <code>assignment0</code> because it is a dummy assignment but you will follow exactly the same procedure for all the real assignments. |
− | + | * Launch the CMake GUI from the Windows 10 toolbar. | |
+ | * In the ''Where is the source code:'' type (or browse to) <code>C:\CORO\assignments\assignment0</code> | ||
− | + | * In the ''Where to build the binaries:'' type (or browse to) <code>C:\CORO\assignments\assignment0\build</code> | |
− | + | * Select ''File > Delete Cache'' from the top menu (you '''must''' do this the first time in case there is an old invalid configuration in the CORO directory) | |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | * Select ''File > Delete Cache'' from the top menu (you '''must''' do this the first time in case there is an old invalid configuration in the | + | |
* Click ''Configure'' | * Click ''Configure'' | ||
− | * Select Visual Studio 10 | + | * Select ''Visual Studio 10 2010'' from the drop-down menu as the generator for the project |
* Click ''Finish'' and watch CMake configure your project. The dialogue box will still highlighted in red, so ... | * Click ''Finish'' and watch CMake configure your project. The dialogue box will still highlighted in red, so ... | ||
Line 84: | Line 70: | ||
* Click ''Configure'' two more times and everything should be fine. | * Click ''Configure'' two more times and everything should be fine. | ||
− | * Click ''Generate'' to create the MSVC++ <code>assignment0.sln</code> file in the <code>C:\ | + | * Click ''Generate'' to create the MSVC++ <code>assignment0.sln</code> file in the <code>C:\CORO\assignments\assignment0\build</code> directory. |
− | Now you are ready to launch MSVC++ and build the | + | Now you are ready to launch MSVC++ and build the CORO assignment0 executable. |
− | * Go to the <code>C:\ | + | * Go to the <code>C:\CORO\assignments\assignment0\build</code> directory and double-click the <code>assignment0.sln</code> file. This launches Microsoft Visual C++ 2010 Express. The first time, you may be presented with a pop-up window that asks you how you want to open the file. Select ''Microsoft Visual C++ 2010 Express'' and click on the checkbox to always use this application to open this file type. |
− | * Select <code>Release</code> in the ''Solutions Configuration'' box. | + | * Select <code>Release</code> in the ''Solutions Configuration'' box (this is located left of centre on the toolbar and defaults to <code>Debug</code>). |
* Select ''Build > Build Solution'' from the top menu, (if you don't see this and you see ''Debug > Build Solution'' instead, it's probably because your IDE is set to basic settings. To change this, select ''Tools > Settings > Expert Settings''). | * Select ''Build > Build Solution'' from the top menu, (if you don't see this and you see ''Debug > Build Solution'' instead, it's probably because your IDE is set to basic settings. To change this, select ''Tools > Settings > Expert Settings''). | ||
− | This will compile and link the programs in the the <code>C:\ | + | This will compile and link the programs in the the <code>C:\CORO\assignments\assignment0\src</code> sub-directory and install then in the <code>C:\CORO\assignments\assignment0\bin</code> directory. |
− | Check to see that the example <code> | + | Check to see that the example <code>dvernon.exe</code> executable is there. If it is not, then select ''Build > Configuration Manager'' from the menu and make sure the ''INSTALL'' check-box is ticked. Now rebuild the project again. |
'''Note that you will have to tick this check-box every time you rebuild the <code>.sln</code> solution file with CMake.''' If you don't do this, then your new executable won't be installed in the <code>bin</code> directory and you'll end up becoming very confused because none of the changes you make to your source code will be reflected in the executable you run from the <code>bin</code> directory (because its an old version from a previous compilation). | '''Note that you will have to tick this check-box every time you rebuild the <code>.sln</code> solution file with CMake.''' If you don't do this, then your new executable won't be installed in the <code>bin</code> directory and you'll end up becoming very confused because none of the changes you make to your source code will be reflected in the executable you run from the <code>bin</code> directory (because its an old version from a previous compilation). | ||
− | Good! Now you are now ready to run the example <code> | + | Good! Now you are now ready to run the example <code>dvernon.exe</code> application that is provided with the CORO release. To do this, double click the <code>dvernon.exe</code> executable in <code>C:\CORO\assignments\assignment0\bin</code>. Open <code>input.txt</code> file in <code>C:\CORO\assignments\assignment0\data</code> and, after running <code>dvernon.exe</code>, open the <code>output.txt</code> file, also in the <code>C:\CORO\assignments\assignment0\data</code> directory. |
Try creating your own (dummy) assignment program. To do this, follow the following steps. | Try creating your own (dummy) assignment program. To do this, follow the following steps. | ||
− | * Create a directory with your | + | * Create a directory with your student Id, e.g. <code>C:\CORO\assignments\assignment0\src\mystudentid</code> |
− | * Copy the source files (<code>.c, .cpp, .h</code>) from the <code> | + | * Copy the source files (<code>.c, .cpp, .h</code>) and the <code>CMakeLists.txt</code> file from the <code>dvernon</code> directory to the mystudentid directory. |
− | * Edit the <code>C:\ | + | * Edit the <code>C:\CORO\assignments\assignment0\src\CMakeLists.txt</code> file and replace <code>ADD_SUBDIRECTORY(dvernon)</code> with <code>ADD_SUBDIRECTORY(mystudentid)</code>, where <code>mystudentid</code> is your student number. |
+ | * Edit the <code>C:\CORO\assignments\assignment0\src\mystudentid\CMakeLists.txt</code> file and replace <code>dvernon</code> with <code>mystudentid</code>, where <code>mystudentid</code> is your student number. | ||
* Run CMake again. | * Run CMake again. | ||
− | * Re-open the <code>assignment0.sln</code> file (remember, it's in the <code>C:\ | + | * Re-open the <code>assignment0.sln</code> file (remember, it's in the <code>C:\CORO\assignments\assignment0\build</code> directory). |
− | * Your files should now be visible (and the | + | * Your files should now be visible (and the dvernon ones will no longer be there) and you can now compile your code and install it in the <code>bin</code> directory by selecting ''Build > Build Solution'' from the top menu. |
− | * Make sure that the ''INSTALL'' check-box is ticked when you select ''Build > Configuration Manager'' from the menu to ensure that your executable is installed in the <code>C:\ | + | * Make sure that the ''INSTALL'' check-box is ticked when you select ''Build > Configuration Manager'' from the menu to ensure that your executable is installed in the <code>C:\CORO\assignments\assignment0\bin</code> directory. |
− | * Finally, run your program in the <code>C:\ | + | * Finally, run your program in the <code>C:\CORO\assignments\assignment0\bin</code> directory. You might like to change the contents of <code>input.txt</code> in the <code>C:\CORO\assignments\assignment0\data</code> directory and re-run your program to convince yourself that everything is working properly. |
− | For your first assignment, you will simply copy the <code>assignment0</code> directory to <code>assignment1</code> and follow a similar procedure, writing new assignment-specific code, of course. There | + | For your first assignment, you will simply copy the <code>assignment0</code> directory to <code>assignment1</code> and follow a similar procedure, writing new assignment-specific code, of course. There is just one thing you need to do: edit the <code>C:CORO\assignments\assignment1\CMakeLists.txt</code> and change the project name from <code>assignment0</code> to <code>assignment1</code>, viz: |
############################################## | ############################################## | ||
Line 131: | Line 118: | ||
− | When submitting an assignment, all you have to do is submit a zipped version of your <code> | + | When submitting an assignment, all you have to do is submit a zipped version of your <code>mystudentid</code> directory with your three source code files. |
+ | |||
+ | The instructor simply has to unzip it and add it to the <code>src</code> directory on her or his computer, along with all the other students and her or his own solution, run CMake, launch the <code>.sln</code> file, compile, install, and check each executable in <code>bin</code> against the test data file in her or his <code>data</code> directory. Because we build the solutions the same way, you are guaranteed that your code will compile, provided you have followed this procedure. | ||
+ | |||
− | + | The final step is to build a MSVC++ <code>.sln</code> solution file so that you can compile the DSA lectures executables. To do this, you need to run CMake against <code>C:\CORO\lectures</code> and <code>C:\CORO\lectures\build</code>, launch <code>C:\CORO\lectures\build\lectures.sln</code>, build the solution, making sure that the ''INSTALL'' check-box is ticked when you select ''Build > Configuration Manager'' from the menu to ensure that the demo executables are installed in the <code>C:\CORO\lectures\bin directory</code>. | |
---- | ---- | ||
Back to [[Cognitive Robotics]] | Back to [[Cognitive Robotics]] |
Latest revision as of 13:21, 24 January 2021
This page provides a step-by-step guide to downloading, installing, and using the software required to run the robot vision and robot manipulation demonstration software Introduction to Cognitive Robotics on a physical Lynxmotion AL5D robot and a USB camera. This software runs on Windows 10.
There is a separate guide for the software that runs on Ubuntu and uses robot simulators, i.e. the mobile robot, robot manipulation, robot vision, and CRAM software using ROS.
Follow these instructions exactly as they are stated. Do not be tempted to skip through them, assuming that you will be able to figure it out yourself. You might, but it is more likely you will miss something small but important and it won't work as required. Take your time, follow these instructions carefully, and everything will work.
Operating System
I assume you are running Windows 10.
I strongly recommend you turn off the option in Windows Explorer to hide file extensions. To do this, open File Explorer, click the View tab and click on the file name extensions checkbox so that it shows a tick. If it is ticked, you will have problems identifying certain files later on (e.g. invoking the example.sln
solution file to launch the C++ compiler).
C/C++ Compiler
Download the Microsoft Visual C++ Express compiler, version 10.0 (also known as Visual C++ 2010 or MSVC++ 2010). It is important to use this version; earlier versions are no longer supported by Microsoft and later versions cause problems with some libraries.
You can download the required installer from here.
Run the installer and follow the instructions.
You will need to register Visual C++ 2010 Express to continue using beyond the initial 30-day evaluation period. To do this, from the Microsoft Visual C++ 2010 Express menu, select Help > Register Product. A pop-up will be displayed. Click on the Obtain a registration key online button. You will then have to log in to your Microsoft account, if you have one, or create a new one, if you don't. After filling in some forms you will receive the product key which you enter into the dialogue box that popped up when you selected Help > Register Product. If you see an error message as shown below, click on the Microsoft icon on the top left corner of the page. This will redirect you to the Microsoft’s login page. Log into your Microsoft account from here and begin the process again, i.e. select Help > Register Product. For more detailed instructions, see here.
CMake
Download CMake binaries from here. At time of writing the latest version is 3.16.2.
You can opt for either the WIN32 installer (cmake-3.16.2-win32-x86.msi) or the Windows zip file. The installer has the advantage that it gives you the option to update your system path automatically (which you should take by clicking the appropriate radio button during the installation process). If you choose the installer option, note that if you already have CMake version 3.4 or earlier you much uninstall it first.
OpenCV
Download and install OpenCV from here. Choose the version 2.4.10 self-installer, download it, and execute it, and extract the library to C:
so that you have a directory C:\opencv
. If you have problems downloading this version from SourceForge site, you can download version 2.4.10 from here.
Add C:\opencv\build\x86\vc10\bin
to the PATH
environment variable and add a new environment variable OPENCV_DIR
with the value C:\opencv\build
, as follows.
- From Windows 10 toolbar, select Settings.
- Type Environment Variables in the Find a Setting dialogue box. This will bring up a new Systems Properties window.
- Click the Environment Variables ... button. This will bring up a new Environment Variables window.
- Select Path from System Variables. Click Edit. Click New and insert
C:\opencv\build\x86\vc10\bin
. Click OK. - Under User variables, click New. Insert
OPENCV_DIR
in the Variable name box andC:\opencv\build
in the Variable value box. Click OK. - Click OK in the Environment Variables window.
- Click OK in the Systems Properties window.
CORO Repository
Copy the CORO repository to the C:
drive:
- Download a zip archive with all the files from here.
- Copy it to
C:
drive and unzip it so that you have a directory calledC:\CORO
.
C:\CORO
has with a sub-directory structure explained in the course notes. For our purposes here, there is an C:\CORO\assignments
directory and it will contain an example C:\CORO\assignments\assignment0
sub-directory. Later on, you will generate C:\CORO\assignments\assignment1
and C:\CORO\assignments\assignment2
, and so on.
There is also a C:\CORO\lectures
sub-directory. This has code from the lectures: the source code is in the C:\CORO\lectures\src
sub-directory and test data is in the C:\CORO\lectures\data
sub-directory.
The next step is to build a MSVC++ .sln
solution file so that you can compile the CORO assignment0 executable. To do this, you need to run CMake against the C:\CORO\assignments\assignment0
directory (where you will find the main CMakeLists.txt
file). We use assignment0
because it is a dummy assignment but you will follow exactly the same procedure for all the real assignments.
- Launch the CMake GUI from the Windows 10 toolbar.
- In the Where is the source code: type (or browse to)
C:\CORO\assignments\assignment0
- In the Where to build the binaries: type (or browse to)
C:\CORO\assignments\assignment0\build
- Select File > Delete Cache from the top menu (you must do this the first time in case there is an old invalid configuration in the CORO directory)
- Click Configure
- Select Visual Studio 10 2010 from the drop-down menu as the generator for the project
- Click Finish and watch CMake configure your project. The dialogue box will still highlighted in red, so ...
- Click Configure two more times and everything should be fine.
- Click Generate to create the MSVC++
assignment0.sln
file in theC:\CORO\assignments\assignment0\build
directory.
Now you are ready to launch MSVC++ and build the CORO assignment0 executable.
- Go to the
C:\CORO\assignments\assignment0\build
directory and double-click theassignment0.sln
file. This launches Microsoft Visual C++ 2010 Express. The first time, you may be presented with a pop-up window that asks you how you want to open the file. Select Microsoft Visual C++ 2010 Express and click on the checkbox to always use this application to open this file type.
- Select
Release
in the Solutions Configuration box (this is located left of centre on the toolbar and defaults toDebug
).
- Select Build > Build Solution from the top menu, (if you don't see this and you see Debug > Build Solution instead, it's probably because your IDE is set to basic settings. To change this, select Tools > Settings > Expert Settings).
This will compile and link the programs in the the C:\CORO\assignments\assignment0\src
sub-directory and install then in the C:\CORO\assignments\assignment0\bin
directory.
Check to see that the example dvernon.exe
executable is there. If it is not, then select Build > Configuration Manager from the menu and make sure the INSTALL check-box is ticked. Now rebuild the project again.
Note that you will have to tick this check-box every time you rebuild the .sln
solution file with CMake. If you don't do this, then your new executable won't be installed in the bin
directory and you'll end up becoming very confused because none of the changes you make to your source code will be reflected in the executable you run from the bin
directory (because its an old version from a previous compilation).
Good! Now you are now ready to run the example dvernon.exe
application that is provided with the CORO release. To do this, double click the dvernon.exe
executable in C:\CORO\assignments\assignment0\bin
. Open input.txt
file in C:\CORO\assignments\assignment0\data
and, after running dvernon.exe
, open the output.txt
file, also in the C:\CORO\assignments\assignment0\data
directory.
Try creating your own (dummy) assignment program. To do this, follow the following steps.
- Create a directory with your student Id, e.g.
C:\CORO\assignments\assignment0\src\mystudentid
- Copy the source files (
.c, .cpp, .h
) and theCMakeLists.txt
file from thedvernon
directory to the mystudentid directory. - Edit the
C:\CORO\assignments\assignment0\src\CMakeLists.txt
file and replaceADD_SUBDIRECTORY(dvernon)
withADD_SUBDIRECTORY(mystudentid)
, wheremystudentid
is your student number. - Edit the
C:\CORO\assignments\assignment0\src\mystudentid\CMakeLists.txt
file and replacedvernon
withmystudentid
, wheremystudentid
is your student number. - Run CMake again.
- Re-open the
assignment0.sln
file (remember, it's in theC:\CORO\assignments\assignment0\build
directory). - Your files should now be visible (and the dvernon ones will no longer be there) and you can now compile your code and install it in the
bin
directory by selecting Build > Build Solution from the top menu. - Make sure that the INSTALL check-box is ticked when you select Build > Configuration Manager from the menu to ensure that your executable is installed in the
C:\CORO\assignments\assignment0\bin
directory. - Finally, run your program in the
C:\CORO\assignments\assignment0\bin
directory. You might like to change the contents ofinput.txt
in theC:\CORO\assignments\assignment0\data
directory and re-run your program to convince yourself that everything is working properly.
For your first assignment, you will simply copy the assignment0
directory to assignment1
and follow a similar procedure, writing new assignment-specific code, of course. There is just one thing you need to do: edit the C:CORO\assignments\assignment1\CMakeLists.txt
and change the project name from assignment0
to assignment1
, viz:
############################################## PROJECT(assignment0) ##############################################
becomes
############################################## PROJECT(assignment1) ##############################################
When submitting an assignment, all you have to do is submit a zipped version of your mystudentid
directory with your three source code files.
The instructor simply has to unzip it and add it to the src
directory on her or his computer, along with all the other students and her or his own solution, run CMake, launch the .sln
file, compile, install, and check each executable in bin
against the test data file in her or his data
directory. Because we build the solutions the same way, you are guaranteed that your code will compile, provided you have followed this procedure.
The final step is to build a MSVC++ .sln
solution file so that you can compile the DSA lectures executables. To do this, you need to run CMake against C:\CORO\lectures
and C:\CORO\lectures\build
, launch C:\CORO\lectures\build\lectures.sln
, build the solution, making sure that the INSTALL check-box is ticked when you select Build > Configuration Manager from the menu to ensure that the demo executables are installed in the C:\CORO\lectures\bin directory
.
Back to Cognitive Robotics