e-puck2 robot side development

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Installation of the e-puck2 environment

Eclipse_e-puck2 is a distribution of Eclipse IDE for C/C++ Developers specially modified to edit and compile e-puck2's projects out of the box. It doesn't require to be installed and everything needed is located in the package given. The only dependency needed to be able to run Eclipse is Java.

Installation for Windows

Java 8 32bits

This section can be ignored if Java version 8 32bits is already installed on your computer.
To verify, you can open the Programs and Features panel and search for a Java 8 Update xxx install.

  1. Go to the Java download page and download "Windows offline" This is the 32bits version of Java.
  2. Run the downloaded installer and follow its instructions to proceed with the installation of Java 32bits.
  3. Close the internet browser if it opened at the end of the installation.

Java download page

Eclipse_e-puck2

  1. Download the Eclipse_e-puck2 package for windows.
  2. Unzip the downloaded file to the location you want (can take time). It is strongly recommended for better performance and less extraction time to use 7Zip. You can download it on http://www.7-zip.org.
  3. You can now run the Eclipse_e-puck2.exe to launch Eclipse.
  4. You can create a shortcut to Eclipse_e-puck2.exe and place it anywhere if you want.

Eclipse_e-puck2 folder obtained after extraction

Important things to avoid :

1. The path to the Eclipse_e-puck2 folder must contain zero space.
Example :
C:\epfl_stuff\Eclipse_e-puck2 OK
C:\epfl stuff\Eclipse_e-puck2 NOT OK
2. You must not put Ellipse_e-puck2 folder into Program Files (x86). Otherwise the compilation when using Eclipse will not work.
3. The file’s structure in the Eclipse_e-puck2 folder must remain the same. It means no file inside this folder must be moved to another place.

Installation for Linux

Java 8

This section can be ignored if Java is already installed on your computer.
To verify whether it is installed or not you can type the following command into a terminal window:

update-java-alternatives -l

If Java is installed, you will get some information about it, otherwise the command will be unknown.
You need to have Java 1.8.xxxx listed to be able to run Eclipse_e-puck2.

Type the following commands in a terminal session to install Java SDK:

sudo add-apt-repository ppa:openjdk-r/ppa
sudo apt-get update
sudo apt-get install openjdk-8-jre 

Eclipse_e-puck2

  1. Install make (probably you already have it installed) by issueing the command: sudo apt-get install make
  2. Download the Eclipse_e-puck2 package for Linux 32bits / 64bits. Pay attention to the 32bits or 64bits version. If unsure which Linux version you have, enter the following comand uname -a in the terminal window and look for i686 (32bit) or x86_64 (64 bit).
  3. Extract the downloaded file to the location you want (can take time).
  4. You can now run the Eclipse_e-puck2 executable to launch Eclipse.

Eclipse_e-puck2 folder obtained after extraction

Note : The icon of the Eclipse_e-puck2 executable will appear after the first launch of the program.

Important things to avoid :

1. You cannot create a Link to the Eclipse_e-puck2 executable because otherwise the program will think its location is where the Link is and it will not find the resource located in the Eclipse_e-puck2 folder.
2. The path to the Eclipse_e-puck2 folder must contain zero space.
Example :
/home/student/epfl_stuff/Eclipse_e-puck2 OK
/home/student/epfl stuff/Eclipse_e-puck2 NOT OK
3. The file’s structure in the Eclipse_e-puck2 folder must remain the same. It means no file inside this folder must be moved to another place.

Installation for Mac

Command Line Tools

To compile on Mac with Eclipse_e-puck2, it is necessary to have the Command Line Tools installed. It is a bundle of many commonly used tools.
You can install it by typing the following command in a terminal window. It will then open a popup asking you if you want to install this bundle. Otherwise it will tell you it is already installed.

xcode-select --install

Java 8

This section can be ignored if Java is already installed on your computer.
To verify whether it is installed or not you can type the following command into a terminal window. It will list all the Java runtimes installed on your Mac.

/usr/libexec/java_home -V

You need to have Java SE 8 listed to be able to run Eclipse_e-puck2.

1. Go to the Java download page and download the Mac OS X Java 8 SE Development Kit. It is the .dmg file without the Demos and Samples.
For example: jdk-8uXXX-macosx-x64.dmg
2. Open the .dmg file downloaded, run the installer and follow the instructions to proceed with the installation of Java SDK.

Java download page

Eclipse_e-puck2

1. Download the Eclipse_e-puck2 package for Mac.
2. Open the .dmg file downloaded and DragAndDrop the Eclipse_e-puck2.app into the Applications folder
Note : You can place the Eclipse_e-puck2.app anywhere, as long as the full path to it doesn’t contain any space, if you don’t want it to be in Applications.
3. You can create an Alias to Eclipse_e-puck2.app and place it anywhere if you want.

First launch and Gatekeeper

It’s very likely that Gatekeeper (one of the protections of Mac OS) will prevent you to launch Eclipse_e-puck2.app because it isn’t signed from a known developer.
If you can’t run the program because of a warning of the system, press OK and try to launch it by right clicking on it and choosing open in the contextual menu (may be slow to open the first time).
If Unable to open "Eclipse_e-puck2.app" because this app comes from an unidentified developer. or if "Eclipse.app" is corrupted and cannot be opened. You should place this item in the Trash. appears after executing the app the first time, it is needed to disable temporarily Gatekeeper.

To do so :

1. Go to System Preferences->security and privacy->General and authorize downloaded application from Anywhere.

Security settings of Mac OS
If you are on Mac OS Sierra or greater (greater or equal to Mac OS 10.12), you must type the following command on the terminal to make the option above appear.
sudo spctl --master-disable
2. Now you can try to run the application and it should work.
3. If Eclipse opened successfully, it is time to reactivate Gatekeeper. Simply set back the setting of Gatekeeper.
For the ones who needed to type a command to disable Gatekeeper, here is the command to reactivate it.
sudo spctl --master-enable

This procedure is only needed the first time. After that Gatekeeper will remember your choice to let run this application and will not bother you anymore, as long as you use this application. If you re-download it, you will have to redo the procedure for Gatekeeper.

Important things to avoid :

1. The path to the Eclipse_e-puck2.app must contain zero space.
Example :
/home/student/epfl_stuff/Eclipse_e-puck2 OK
/home/student/epfl stuff/Eclipse_e-puck2 NOT OK
2. The file’s structure in the Eclipse_e-puck2.app must remain the same. It means no file inside this app must be moved to another place.

Get the source code

The source code is available in the git repo https://github.com/e-puck2/e-puck2_main-processor.