= Installation =

== Download ==

To get the source code from the SVN repository : \\
{{{
#!sh
$ svn co https://devel.hds.utc.fr/svn/pacpussensors/trunk/
}}} 

It creates a folder named "trunk" containing the code source of every available plugin.

== Compilation ==

First, make sure the CMakeList.txt at the root of the directory is well configured (into trunk/). In order to install the Sick plugin, modify the file and verify you have the following line :
{{{
#!sh
add_subdirectory(Sick)
}}}

Also, the environment variable $PACPUS_ROOT must point to the pacpus installation directory (you normally already set it when you installed PACPUS).


Then we need to configure the installation : 
{{{
#!sh
$ export PACPUS_ROOT=/opt/pacpus/0.0.2 # Pacpus Framework path
$ cd trunk/build/ # first go into the build folder
$ cmake ..
}}} 

Now we can compile and install :
{{{
#!sh
$ sudo make install
}}} 

Make sure the executable files you just created are copied into $PACPUS_ROOT/lib/. 


= Configuration =

In order to work with the plugins we want, PACPUS needs an XML file.

== XML ==

Depending on used sensors and how many, you should define these three property in a "Sick" node (X must start from ’0’) :
* sickldmrs_X
* sicklms151_X
* sicklms511_X
For example, let’s say we have two Sick LMS151, one LDMRS and one LMS511 :

{{{
#!xml
<?xml version="1.0" encoding="ISO-8859-1"?>
<pacpus>
	<components>
        <Sick type="SickComponent" 
sickldmrs_0="192.168.0.1:12002" sickldmrs_0_recording="1" 
sicklms151_0="192.168.0.10:2111" sicklms151_0_recording="1" 
sicklms151_1="192.168.0.11:2111" sicklms151_1_recording="1" 
sicklms511_0="192.168.0.50:2111" sicklms511_0_recording="1" />
    </components>
    <parameters>
    	<plugins list="libSick.so" />
    </parameters>
</pacpus>
}}} 

= Execution =

First, we need to set the environment variable $LD_LIBRARY_PATH. This variable is used by the main program to find where the plugins (.so files) are.
{{{ #!sh
$ export LD_LIBRARY_PATH=$PACPUS_ROOT/lib
}}}

The Sick plugin will use files to record the data it processes (if configured to, see XML). To make sure the files are created or opened, we have two solutions :
* Give all the rights to users of the bin directory
{{{#!sh 
sudo chmod 777 $PACPUS_ROOT/bin/
}}}
* Execute Pacpus as root (not working) 


Then, we can execute Pacpus : 
{{{#!sh 
$ cd $PACPUS_BIN/bin/
$ ./PacpusSensor path/to/xml/file.xml
}}}