rangerSport Installation

Contents

  • System Requirements
  • Downloading
  • Uncompressing
  • Installing Needed Libraries
  • Contents Of rangerSport Folder
  • bin/
  • cs/
  • io/io_reader
  • sims/
  • System Requirements:

    The Graphical Simulation Package was developed on a Silicon Graphics 02 running IRIX 6.23 Three building utilities were used: Multigen II, Performer 2.2, and XForms 0.89.

    Current Supported Systems:

    Indigo2
    O2
    Octane

    Hardware Texture Mapping is required with recommended 4MB Texture Memory.

    Performer 2.2 EOE is required. To aquire Performer you will need to contact your administrator or Silicon Graphics.

    XForms shared object libraries are required. XForms is a freeware program used to develop graphical user interfaces. The needed libraries are included in this package and on the XForms web site.

    Downloading:

    The rangerSport package holds all applications and utilities to run the graphical simulation, 76 MB uncompressed.

    Download the tar compressed file (32 MB)

    Uncompressing:

    After downloading the rangerSport.tar.Z file, uncompress and untar the file using the following commands.

    >uncompress rangerSport.tar.Z
    >tar xf rangerSport.tar

    This will create a directory in the local folder named rangerSport/. The contents of the gfx_deliver folder are given.

    Sometimes the access priveleges are altered.

    Installing Needed Libraries:

    NDDS communications requires a NDDS_PEER_HOSTS environment variable holding all the computer addresses using NDDS. At a minimum, the computer you are working on should be included. Therefore if you are working on a computer whose address is mycomputer.mycompany.org then set the environment variable:

    >setenv NDDS_PEER_HOSTS mycomputer.mycompany.org:anothercomputer.mycompany.org

    To make things easier add the above line to your .cshrc file, so that you don't have to run that line every time you open a new shell.

    Install the XForms shared object libraries. The ./rangerSport/bin/ folder contains two libraries which will need to be installed within a folder in the library search path. A typical location is in /usr/libs/, you will probably need root priveliges to perform this operation.

    The graphical simulation uses Performer 2.2 EOE, the run-time environment. Make sure the appropriate libraries and patches are loaded for the platform being used.

    Performer also requires the correct Multigen loader, version 15.4d. The IRIS GL libraries (libpfflt_igl.so and libpfflt_igl.so.2) within the ./rangerSport/bin/ need to be installed within a folder in the library search path. A typical location is in /usr/libs/, you will probably need root priveliges to perform this operation. These libraries can also be obtained at Multigen website.

    Contents Of rangerSport Folder

    The following directory structure will appear in the gfx_deliver directory.

    1. bin/

    This directory holds libraries to be properly installed, as well as scripts to manage the communications.

    1.1 clearShmem.pl

    This Perl script is used to destroy shared memory segments created by the control station and graphical simulation. Use the ipcs command to determine which shared memory id are being used. Then use the script.

    >clearShmem.pl <startId> <endId>

    to destroy that block of shared memory ids. Don't worry if there are blanks between.

    1.2 libforms.so.0.89

    This shared library is the current version of XForms used with this code version 0.89. Almost all the code requires this library.

    1.3 libpfflt_igl.so, libpfflt_igl.so.2

    These are shared object libraries for Performer to properly accept Multigen models. This is needed by the graphical simulation.

    1.4 license.dat

    This is the license data file for NDDS. It will point to Space Systems Lab license server.

    1.5 nddsStartDaemon, startNdds

    These are scripts used to start the NDDS communcations. To run

    > startNdds

    This will use the nddsStartDaemon script to make NDDS available on that machine.

    2. cs/

    The largest of the folders this directory holds all of the control station and graphical simulation executables.

    2.1 BCS, FlightData, GarmData, GarmFT, GarmParam, GarmSC, GarmSum, IODisplay, Larm8Data, Larm8FT, Larm8Param, Larm8SC, Larm8Sum, LarmData, LarmFT, LarmParam, LarmSC, LarmSum, NBVSC, NBVflight, ParmData, ParmFT, ParmParam, ParmSC, ParmSum, RarmData, RarmFT, RarmParam, RarmSC, RarmSum, THR, Varm7Data, Varm7FT, Varm7Param, Varm7C, Varm7Sum,VarmData, VarmFT, VarmParam, VarmSC, VarmSum, dmsca

    In general, starting the control station requires one to run any one of the executables. Once one is running the Display menu can be used to bring other executables up seemlessly. Therefore, merely type

    >BCS

    To start the control station, and use the menus to set up how you want the control station and graphical simulation laid out. When you quit, a preference file is saved. You can later rerun BCS and all the panels will return in the location they were left.

    2.2 IorLoad.dat

    No modifications should be required for this file unless a Spaceball or approved Space Systems Lab input device is being used.

    This data file sets up the NDDS_PEER_HOST_LIST. This list the computers on the NDDS network to use all the NDDS data. This file also lists each of the input devices and which computer on the network that device is attached to. This is required to properly set up each input device.

    2.3 armCmd

    This application allows the user to control each of Ranger's manipulators. Each joint can be controlled using a simple control panel. Go to the armCmd Manual.

    2.4 cmdChecker

    The command checker, is still in development.

    2.5 data/

    This folder holds the different data files required to run the simulation and control station modules.

    2.5.1 IorLoad.dat

    No modifications should be required for this file unless a Spaceball or approved Space Systems Lab input device is being used.

    This data file sets up the NDDS_PEER_HOST_LIST. This list the computers on the NDDS network to use all the NDDS data. This file also lists each of the input devices and which computer on the network that device is attached to. This is required to properly set up each input device.

    2.5.2 dc_runPath.dat

    No modifications should be required for this file, since no dynamic simulations are in this package.

    This data file sets up where each dynamic simulation executable will run. Each simulation is listed along with the computer that program will run on.

    2.5.3 models

    This folder holds the graphical simulation files. No modification should be made to these files; they were generated using Multigen"II.

    These data files create the visual database hierarchy used for the graphical simulation.

    2.5.4 scampData

    This folder holds graphic sprites used in the SCAMP control station. No modification should be made to these files.

    2.5.5 texture

    This folder holds all the textures used in the graphical simulation. These files are organized in folders. These files should not be modified, they are in SGI formats: rgb, rgba, int, and inta.

    2.5.6 wm_rangerPath.dat

    No modification should be required to this file, since the only application in this package is the graphical simulation.

    This data file lists the executable paths for each control station module within the control system. Each module is listed with the path to the executable.

    2.6 ndds2Shmem

    This is a program that converts NDDS messages into shared memory for the graphical simulation. This program is run by clicking on the NDDS2Shmem button on the graphical simualtion.

    2.7 scamp

    This control station module control another vehicle. Unless the computer is connected to a PiVecs box this application will fail.

    2.8 vehCmd

    This application allows the user to position the NBRF vehicles in the graphical simulation: Ranger, SCAMP, and SCAMP SSV. Go to the vehCmd manual.

    3. io/io_reader

    The io_reader executable allows for several approved input devices to be used with the control station and graphical simulation. Most likely, the GUI hand control simulator will be used.

    > io_reader hcasim ndds 0

    The above command line will start one of the hand controller simulators. Also "hcbsim" could be run at the same time. Some with access to a Spaceball can use

    >io_reader sba ndds 1

    Make sure the last number is the port number the Spaceball is connected to on the back of the computer.

    io_reader manual

    4. sims/

    This directory hold a folder for each of Ranger's manipulator. Ranger NBV (dxl7/, dxr7/, grp7, vid6) uses the 7DOF left and right dexterous arms as well as a 7DOF grapple arm and 6 DOF video arm. Ranger TSX (dxl8/, dxr8/, pxl6/, vid7/) have 8 DOF dexterous arms, a 6DOF positioning leg, and 7DOF video arm. Inside each folder are many .dat files used to properly initialize each simulation. Three executables are present in each directory. For example in the dxl7/ directory:

    4.1 Dxlsim

    This is the arm simulation, it communicates to the control station and graphical simulation via NDDS. It also needs exactly one of the two controller executables to be running on the same computer.

    4.2 Dxljj

    This is the joint by joint controller, the control station can now be in joint control mode and use the joint control panel to directly move each DOF on the arm.

    4.3 Dxlrr

    This is the resolved rate controller allowing the control station to be in Cartesian contro mode. The operator can use the IO Control panel to select an input device to move the tooltip of the arm.