Vehicle Software Installation

1) Install dependency packages assuming ubuntu derivative.  

sudo apt-get update
sudo apt-get install build-essential freeglut3-dev libboost-all-dev xterm libtiff4-dev libpng12-dev libgsl0-dev subversion bzr cmake-curses-gui libxft-dev libxinerama-dev fluid default-jre

2) Download MOOS-IvP from http://oceanai.mit.edu/moos-ivp/pmwiki/pmwiki.php?n=Site.Download.  Currently we are using the trunk.

cd ~/
svn co https://oceanai.mit.edu/svn/moos-ivp-aro/releases/moos-ivp-13.2 moos-ivp

3) Build:

export CXX='/usr/local/lib/distcc/arm-linux-gnueabi-g++-4.4'
export CC='/usr/local/lib/distcc/arm-linux-gnueabi-gcc-4.4'
export DISTCC_HOSTS=192.168.1.4
export DISTCC_POTENTIAL_HOSTS=192.168.1.4
cd ~/moos-ivp/MOOS/MOOSCore
cmake -D DISABLE_NAMES_LOOKUP=ON -D USE_ASYNC_COMMS=ON .
make -j2
cd ../MOOSEssentials
cmake .
pump make -j2
cd ../MOOSGeodesy
cmake .
make -j2
cd ../MOOSToolsUI
cmake -D BUILD_GRAPHICAL_TOOLS=OFF .
pump make -j2
cd ~/moos-ivp/ivp/src
cmake -D IVP_BUILD_GUI_CODE=OFF .
pump make -j2

5) Download and install goby

cd ~/
bzr co lp:goby
cd goby
sudo ./DEPENDENCIES ubuntu

cmake -D build_apps=OFF .
make -j4

6) Download and build hovergroup svn:

cd ~/ 
svn checkout https://hovergroup.googlecode.com/svn/trunk/ hovergroup
cd ~/hovergroup/ivp-extend/trunk
cmake .
make -j4

7) Add executable directories to your path (replacing "josh" with your username).  Add the following lines to your ~/.bashrc file.  

HOME_DIR="/home/josh"
IVP_DIR=${HOME_DIR}/moos-ivp
MOOS_DIR=${IVP_DIR}/MOOS
PATH=$PATH:${MOOS_DIR}/MOOSCore/bin:${MOOS_DIR}/MOOSEssentials/bin:${MOOS_DIR}/MOOSToolsUI/bin
PATH=$PATH:${IVP_DIR}/bin
HOVERGROUP_DIR=${HOME_DIR}/hovergroup/ivp-extend
PATH=$PATH:${HOVERGROUP_DIR}/trunk/bin

8) Download the latest version of Eclipse CDT from http://www.eclipse.org/cdt/downloads.php and extract to a location of your choosing (no installation required).  After starting Eclipse you'll need to add the projects and set their references for the indexer to work.  

First I would recommend closing some of the extra windows around the screen.  Almost all of the side tabs can be removed; the only ones we need are the project explorer and the console, which can be minimized when we're not building code.  Once you have things arranged the way you like you should save your perspective under Window -> 

To import a project go to File -> New -> Makefile Project with Existing Code.  For each of the following projects you'll need to select the folder location, name the project, and set the tool-chain to Linux GCC.  After creating projects you will also need to set their references to other projects.  Do this by right clicking on the project in the project explorer and selection properties, then select "project references" on the left.  

Some additional changes you should make in eclipse:

• Use parallel make for large projects (moos-ivp especially) by changing the build command to "make -j4" in project properties -> C/C++ Build
• Editor configuration under Window -> Preferences
  • Under General -> Editors -> Text Editors check "Insert spaces for tabs"