Install OPEN-R on Linux

Contents of this website are freeware and/or copyrighted material, and may not be sold under any circumstances.
Email: dogsbody@dogsbodynet.com Home: https://dogsbodynet.com

Table of Contents

Introduction
Files Needed
Install Documentation & Samples
Install OPEN-R SDK
Build a Sample
Test Sample

1. Introduction

OPEN-R requires a Unix/Linux like environment, so if your running something like Ubuntu you're all set. However, if your just starting out with AIBO programming, I highly recommend first checking out AiboPet's YART instead.

2. Files Needed

To install OPEN-R, first download the following files from the Tekkotsu site. Do not unzip any of the archives - the build script handles that. Download somewhere convenient, perhaps "aibo" under your home directory.

build-aibo-toolchain-3.3.6-r1.sh
OPEN_R_SDK-1.1.5-r5.tar.gz (~12.2 MBytes)
gcc-3.3.6.tar.bz2 (~23 MBytes)
binutils-2.15.tar.bz2 (~11 MBytes)
newlib-1.15.0.tar.gz (~10 MBytes)

You'll also want to grab the docs & samples files...

OPEN_R_SDK-docE-1.1.5-r1.tar.gz (~2.4 MBytes)
OPEN_R_SDK-sample-1.1.5-r2.tar.gz (~3.8 MBytes)

3. Install Documentation & Samples

Open a terminal, and expand the documentation & samples archives with:

cd ~/aibo
tar -zxf OPEN_R_SDK-docE-1.1.5-r1.tar.gz
tar -zxf OPEN_R_SDK-sample-1.1.5-r2.tar.gz

4. Install OPEN-R SDK

You must have gcc-3.4 installed on your computer (OPEN-R is incompatible with gcc-4.1), and will possibly need several other packages.

The steps required to install these differs between distributions. On Ubuntu 7.04 or 7.10 for example:

Select System -> Administrator -> Synaptic Package Manager
Click the Development category, and select build-essential, flex, and gcc-3.4
Click the Word Processing category, and select texinfo
Finally, click the "Apply" toolbar button

Open a terminal, set the build script executable (if necessary) with:

chmod a+x build-aibo-toolchain-3.3.6-r1.sh

Now run the build script as shown below. It installs everything in /usr/local/OPEN_R_SDK. Edit the script beforehand if you want OPEN-R installed somewhere else.

export CC=gcc-3.4
sudo ./build-aibo-toolchain-3.3.6-r1.sh

Go a grab a snack. The build takes a while. Read the "ProgrammerGuide_E.pdf" while you wait.

You'll see "All Done!" if it worked properly.

5. Build a Sample

To test the tools installed properly, try compiling a sample (for ERS-210/220):

cd ~/aibo/sample/ers200/BallTrackingHead
make
make install
ls -al MS/OPEN-R/MW/OBJS

You should see the following binaries:

BALLTRCK.BIN
LFSOUND.BIN
MVHEAD2.BIN
MVLEGS2.BIN
POWERMON.BIN

To compile for the ERS-7 instead, use path "~/aibo/sample/ers7/BallTrackingHead7".

6. Test Sample

To try the sample on AIBO, you'll need a programmable memory stick & reader. Click here for details. Open with a file browser.

First copy the base SDK from:

ERS-210/220:  /usr/local/OPEN_R_SDK/OPEN_R/MS_ERS200/BASIC/memprot
ERS-7:        /usr/local/OPEN_R_SDK/OPEN_R/MS_ERS7/BASIC/memprot

Next copy the compiled sample from:

ERS-210/220:  ~/aibo/sample/ers200/BallTrackingHead/MS
ERS-7:        ~/aibo/sample/ers7/BallTrackingHead7/MS

Eject the memstick from the reader, and insert into AIBO. Boot AIBO & give it a try! AIBO will stretch, then start scanning for the ball. Once found AIBO bleeps and tracks it.