cudnn/mavhub

MAVHUB (Micro Air Vehicle HUB)

MAVHUB is a simple C++ framework to abstract the communication between multiple components of a robotic system. Therefor it supports multiple protocols and has some wrapper classes to access I/O devices or to realize your robotic algorithm.

Dependencies

Required

• automake
• pkg-config

Optional

• autotools
• BLAS (libblas-dev)
• boost C++ library (libboost-dev)
• boost Unit Test Framework (libboost-test-dev)
• doxygen
• GStreamer
• ivy
• LAPACK (liblapack-dev)
• mavlink
• mkhuchlink
• OpenCV (libopencv-dev)
• OpenGL (freeglut3-dev)

Configuration

Additional libraries

• MAVLink:

    ./configure CPPFLAGS="-I$(FULL_PATH_TO_MAVLINK)/include/huch"
  

• MKHUCHLink:

    ./configure CPPFLAGS="-I$(FULL_PATH_TO_MKHUCHLINK)"
  

Compiler flags

To enable optimization level 2 and to get rid of the debug symbols, enter

./configure CXXFLAGS="-O2"

Cross compilation

To cross compile for an arm platform with the angstrom SDK run

./configure --build=`config.guess` --host arm-angstrom-linux-gnueabi 

Two variables for pkg-config need to be set for proper operation. The paths given below are for the older oe directory layout. In recent versions this has to be changed to

build/tmp-angstrom_2008_1/sysroots/armv7a-angstrom-linux-gnueabi

for e.g. the beagle-board.

PKG_CONFIG_PATH=PATH_TO_OEROOT/tmp/staging/armv5te-angstrom-linux-gnueabi/usr/lib/pkgconfig
PKG_CONFIG_SYSROOT_DIR=PATH_TO_OEROOT/tmp/staging/armv5te-angstrom-linux-gnueabi

Unit Test Framework

To compile the test program in the tests directory, enable test support via

./configure --enable-tests=yes

If you get an error on a 64 bit machine saying that configure could not find the version of the library, adding of

--with-boost-libdir=/usr/lib/x86_64-linux-gnu/

might help.

Examples

1. On x86 architecture you might want to enter

    mkdir build-i686
    cd build-i686
    ../configure CXXFLAGS="-O2" \
    	CPPFLAGS="-I/home/user/git/mavlink/include/huch \
    	-I/home/user/git/mkhuchlink"
   

2. For a typical beagleboard or gumstix configuration run

    mkdir build-arm
    cd build-arm
    ../configure --build=`../auxdir/config.guess` \
    	--host arm-angstrom-linux-gnueabi \
    	CXXFLAGS="-O2 \
    	CPPFLAGS="-I/home/user/git/mavlink/include/huch \
    	-I/home/user/git/mkhuchlink"
   

Compilation

After configuration, just type

make

and you will find the binary under src/mavhub.

Documentation

Documentation can be generated using Doxygen. Please run

make doxygen-doc

and have a look at doc/html/index.html.

Usage

mavhub [options]

Options

-c <file>, --config <file>    open config file <file>
-h, --help                    print usage summary

Settings

Settings can be stored in an ini-like file. Examples can be found in the mavhub.d directory. To start, just enter

./src/mavhub -c ../mavhub.d/mavhub.conf

GStreamer plugins

To use own gstreamer plugins or plugins which aren't installed in the GStreamer search path, you have to set the GST_PLUGIN_PATH to the directory containing the plugins, e.g.

export GST_PLUGIN_PATH=/home/user/git/mavhub/lib/gstreamer/
./src/mavhub -c ../mavhub.d/mavhub.conf

Unit Test Framework

A complete list about the supported paremeters can be found in the boost runtime parameter reference. For example, a more verbatim output can be reached by

./tests/test_mavhub --log_level=message

To run only a subset of tests use the run_test argument

./tests/test_mavhub --log_level=test_suite --run_test=hub_camera_tests,hub_slam_tests/tracker_test

FAQ

Where to get the sourcecode?

git clone https://github.com/calihem/mavhub.git

How can I manually rebuild the autotools files?

aclocal -I m4
automake
autoconf