Installation manual

Back to: PITON steerable needle

Install Tech United software

follow installation instructions on How to install Ubuntu 10.04 on a devpc

At Install the Tech United Software, comment out the lines regarding the KINECT.

Ensure that /home/robocup/svn/trunk/src/Turtle2/Libs/Simulink/ and all its subdirectories are in the MATLAB path

PITON source

1. Make a new directory /home/PITON
2. Download Media:PITON.zip‎ and extract the contents in /home/PITON/
3. Download Media:Beckhoff_EL4132_sFun.zip‎ and extract the contents in /home/PITON/software/Beckhoff EL4132/

Extra s-function

copy s-function for EL4132 to Robocup folder

• Copy ec_EL4132_dac.c and ec_EL4132_dac.mexglx from /home/PITON/software/Beckhoff EL4132 to /home/robocup/svn/trunk/src/Turtle2/Libs/Simulink/Ethercat/

Extra packages

Use the Package Manager to install the following packages and their dependencies

Required packages

• libdc1394-22
• libdc1394-dev
• libdc1394-utils
• libraw1394-11
• libraw1394-dev
• wine

Optional packages

• coriander (to view camera output)

To compile programs using the libdc1394 package without problems, one file has to be changed.

1. Open /usr/include/dc1394/dc1394.h with super user privileges
2. Comment the line #include <dc1394/register.h> so it becomes /*#include <dc1394/register.h>*/
3. Save the file

Extra programs

EasySetup

Add to path

Add to MATLAB path

• /home/PITON/fireCamCalibration
• /home/PITON/src