GRAPELABS

This article briefly describes the steps needed to install and use the Tekkotsu robotics develeopment framework with Aibo robots. Linux and an installed Java SDK are needed as the development platform.

First of all you need to install Sonys development platform OPEN-R. Since Sony has discontinued the OPEN-R SDK, you need to download all files from the Tekkotsu site:

• build-aibo-toolchain-3.3.6-r2.sh
• gcc-3.3.6.tar.bz2 (22.9MB, do not unzip, mirrors)
• binutils-2.15.tar.bz2 (11.0MB, do not unzip, mirrors)
• newlib-1.15.0.tar.gz (10.2MB, do not unzip, mirror)
  
• OPEN_R_SDK-1.1.5-r5.tar.gz (11.9MB, do not unzip)
• Tekkotsu 4.0.1 Release (7.2MB)

Download all files to a directory, e.g. /usr/local/src. Change the line PREFIX=... in the file build-aibo-toolchain-3.3.6-r2.sh to PREFIX=/usr/local/OPEN_R_SDK.

After a chmod +x build-aibo-toolchain-3.3.6-r2.sh, execute this file to compile and install the OPEN-R toolchain into the directory /usr/local/OPEN_R_SDK.

Next untar Tekkotsu_4.0.1.tar.gz into /usr/local/Tekkotsu. Search the compiler options definition CXXFLAGS:= \ in the file Makefile and delete the option -Weffc++ to reduce the amount of warnings produced during the compilation. Compile the Tekkotsu framework by executing make TEKKOTSU_TARGET_MODEL=TGT_ERS7