Additional Steps for Installation on the IARA Computer [LCAD EN]

Install ZED Stereo Camera 2.3.3¶ ↑

Note: Installing ZED is only mandatory for IARA; install only if you are using the ZED camera.

a) Download the .run file from the following link:

https://www.stereolabs.com/developers/release/2.3/

b) Change the file’s attribute to make it executable:

chmod +x ZED_SDK_Linux_Ubuntu16_v2.3.3.run

c) Run the file and follow the standard installation:

./ZED_SDK_Linux_Ubuntu16_v2.3.3.run

IMPORTANT: The ZED SDK only works with CUDA 9.1, not with CUDA 9.0. TensorFlow only works with CUDA 9.0. You can continue installing ZED with the incompatible version, but some functionalities (e.g., stereo) may be impaired. Consider this as a caution.

Configure OpenJAUS¶ ↑

a) Follow the tutorial in:

$CARMEN_HOME/sharedlib/OpenJAUS/README_ALBERTO.txt

b) Configure GPS and XSENS to Automatically Set Up When Connected to USB Ports Copy the following file from the data directory of Carmen to your machine:

cd $CARMEN_HOME/data
sudo cp 99-usb-serial.rules /etc/udev/rules.d/

To prevent the serial port from queuing messages from Xsens, follow these steps:

sudo apt-get update
sudo apt install setserial

With the Xsens connected, run:

sudo usermod -a -G dialout pi
setserial /dev/ttyUSB0 low_latency

To make the setserial command permanent, add it to /etc/rc.local. Add the line “setserial /dev/ttyUSB0 low_latency” at the end of the file /etc/rc.local, just before “exit 0”. After a sudo reboot, everything will be ready for use. Network Adjustments for Trimble GPS

To connect the new Trimble GPS, an internet connection inside the IARA is required. We opted to use an iPhone with a 3G connection. For the iPhone to work on Ubuntu 12.04, several steps are needed… We lost the history but it can be found on the Internet (Google “iPhone 4S Ubuntu 12.04 mount”). You need to install some packages (apt-get install …). If successful, you will be able to use the iPhone as a Personal Hotspot, i.e., use the internet from inside IARA.

Once this is done, you need to create a gateway from the machine with internet access (car01) to the IARA subnet (192.168.0.0 - Car Network subnet). To do this (refer to the page help.ubuntu.com/community/Internet/ConnectionSharing (Gateway setup)), assuming the iPhone is on eth2 and the IARA subnet is on eth1:

sudo iptables -A FORWARD -o eth2 -i eth1 -s 192.168.0.0/24 -m conntrack --ctstate NEW -j ACCEPT
sudo iptables -A FORWARD -m conntrack --ctstate ESTABLISHED,RELATED -j ACCEPT
sudo iptables -t nat -F POSTROUTING
sudo iptables -t nat -A POSTROUTING -o eth2 -j MASQUERADE
sudo iptables-save | sudo tee /etc/iptables.sav

The above commands create a NAT from the iPhone to the IARA subnet. Next, edit /etc/rc.local and add the line below before “exit 0”:

iptables-restore < /etc/iptables.sav

Additionally, run:

sudo sh -c "echo 1 > /proc/sys/net/ipv4/ip_forward"

To make this permanent, add the following lines to /etc/sysctl.conf:

net.ipv4.ip_forward=1
net.ipv4.conf.default.forwarding=1
net.ipv4.conf.all.forwarding=1

In Network Manager, set “Use this connection only for resources on its network” (Network Manager -> IPv4 Settings -> Routes) for all wired networks except the iPhone.

Done!