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Augusto Vega edited this page Dec 5, 2018 · 25 revisions

ERA Wiki

Introduction

This wiki captures some additional ERA development efforts that we consider worth being documented. This is "live" text that will keep evolving with new contributions.

Known Issues and Limitations

(work in progress)

ERA Profiling

GNU Radio Profiling

One alternative to profile GNU Radio flowgraphs is through its built-in performance counters. To enable them, GNU Radio has to be built from sources (including some additional dependencies) as explained below. These instruction build and install GNURadio 3.7.9.3, which looks like a stable "pre-3.8" version. We initially tried GNURadio 3.8, but there are some major changes between 3.7 and 3.8 (for example, the use of YAML instead of XML) that complicate the installation of other GNURadio projects.

  1. Install UHD (to be able to use USRP devices):

    sudo apt-get install libuhd-dev libuhd003 uhd-host

  2. Install Boost 1.57 from sources:

    cd ~/gnuradio/
wget http://sourceforge.net/projects/boost/files/boost/1.57.0/boost_1_57_0.tar.bz2 
tar xjvf boost_1_57_0.tar.bz2
cd boost_1_57_0/
sudo apt-get update
sudo apt-get install build-essential g++ python-dev autotools-dev libicu-dev build-essential libbz2-dev libboost-all-dev
./bootstrap.sh --prefix=/usr/
./b2
sudo ./b2 install

  3. Install GMP (GNU Multiple Precision Arithmetic Library):

    sudo apt-get install libgmp3-dev

  4. Install Apache Thrift 0.9.2 (the exact version 0.9.2 is required):

    cd ~/gnuradio/
git clone https://github.com/apache/thrift.git thrift
cd thrift
git checkout 0.9.2
./bootstrap
./configure --prefix=/usr --with-cpp --with-python
make
sudo make install
thrift --version

  5. Install GNU Radio:

    cd ~/gnuradio/
wget https://www.gnuradio.org/releases/gnuradio/gnuradio-3.7.9.3.tar.gz 
tar xzvf gnuradio-3.7.9.3.tar.gz
cd gnuradio-3.7.9.3/
mkdir build
cd build/
cmake -DENABLE_PERFORMANCE_COUNTERS=True -DCMAKE_BUILD_TYPE=Debug -DPYTHON_EXECUTABLE=/usr/bin/python ../
make && make test
sudo make install

Note 1: Ensure that gnuradio-companion (GRC) is among the Gnuradio enabled components at the end of the cmake output. GRC will not be installed if any of the required components are missing!

Note 2: Ensure that thrift is among the Gnuradio enabled components at the end of the cmake output. This is required to access GNURadio's performance counters using ControlPort. In case of any problems, verify that gr-ctrlport is properly configured during the execution of cmake:

-- Configuring gr-ctrlport support...
--   Dependency Boost_FOUND = 1
--   Dependency SWIG_FOUND = TRUE
--   Dependency SWIG_VERSION_CHECK = TRUE
--   Dependency ENABLE_GNURADIO_RUNTIME = ON
--   Enabling gr-ctrlport support.
--   Override with -DENABLE_GR_CTRLPORT=ON/OFF
-- Loading build date Fri, 30 Nov 2018 15:36:58 into constants...
-- Loading version 3.7.9.3 into constants...
--
-- Python checking for Thrift
-- Python checking for Thrift - found
-- Found THRIFT: /usr/lib/libthrift.so
-- Found and enabling Thrift backend to ControlPort
-- Running thrift to build C++ bindings
-- TRY_SHM_VMCIRCBUF set to ON.

If Python cannot find thrift, check the PYTHONPATH environment variable – it should look like this:

PYTHONPATH=/usr/local/lib/python2.7/dist-packages:/usr/lib/python2.7/site-packages

Note 3: If the following error appears when the GNU Radio Companion (GRC) is launched:

dconf-WARNING **: failed to commit changes to dconf: Could not connect: Connection refused

then try to first remove the following folders (which are likely locked by root):

~/.cache/dconf
~/.dbus

ROS Profiling

Lessons Learned

ROS Integration in GNU Radio OOT Blocks

During the creation of the ros-interface out-of-tree (OOT) module, we found difficulties to link this new module against the external ROS libraries. Actually, the compilation process run just fine; the problem appeared at run-time with the following Python message: AttributeError: 'module' object has no attribute 'ros_interface' The problem is due to improper linking against ROS libraries, which is fixed with appropriate directives in the CMakeLists.txt file in the root of the module as well as in the CMakeLists.txt file under lib/:

target_link_libraries(gnuradio-ros_interface ${roscpp_LIBRARIES} ... )

Similarly, we had to explicitly define the linking against the LZ4 compression library by creating a proper FindLZ4.cmake file under cmake/Modules/ and adding ${LZ4_LIBRARY} to target_link_libraries:

target_link_libraries(gnuradio-ros_interface ${roscpp_LIBRARIES} ${LZ4_LIBRARY} ... )

Making a GNU Radio OOT Block Behave like a ROS Node

When we converted the ros-interface OOT block into a ROS node, we found that the callback function to process incoming ROS messages was never called. This was because the ROS spin() or spinOnce() functions were never called since the ros-interface instance is not a standalone program with a main function to call them. We solved this by using an alternative version of spin(), called AsyncSpinner. Then, when the ros-interface block is instantiated, the asynchronous spinner is started in the background.

Miscellaneous

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