Discovery of roboception sensors

This package contains tools for the discovery of Roboception devices (e.g. rc_visard and rc_cube) via GigE Vision.

• rcdiscover: console application for discovering Roboception devices
• rcdiscover-gui: graphical application for discovering Roboception devices and sending magic packets for resetting of parameters

Installation: You can find some prebuilt packages for Linux or Windows on the releases page. Alternatively follow the compilation steps in the next sections.

Compiling on Linux

For compilation of rcdiscover cmake is required.

rcdiscover-gui additionally requires WxWidgets.

To install this under Debian/Ubuntu >= 20.04.0:

sudo apt-get install cmake libwxgtk3.0-gtk3-dev

In older distributions, the package is called libwxgtk3.0-dev

Building rcdiscover

It's required to do an out-of-source build:

mkdir build
cd build
cmake ..
make

To build the gui as well, pass the CMAKE option BUILD_RCDISCOVER_GUI:

cmake -DBUILD_RCDISCOVER_GUI=ON ..

Afterwards, the binaries can be found in build/tools/.

Installation

Installation can either be done via

make install

On Debian (and derivatives like Ubuntu) Debian packages can be built with

cmake -DCMAKE_INSTALL_PREFIX="/usr" ..
make package

which can be installed with e.g. sudo dpkg -i rcdiscover*.deb

Discovering sensors in other subnets

Most Linux distributions have reverse path filtering turned on, which restricts discoverability of sensor to the same subnet as the host.

Check this with

sysctl net.ipv4.conf.all.rp_filter
sysctl net.ipv4.conf.default.rp_filter

Reverse path filtering can be turned off with

sudo sysctl -w net.ipv4.conf.all.rp_filter=0
sudo sysctl -w net.ipv4.conf.default.rp_filter=0

You might also need to disable it for your specific interface, e.g.:

sudo sysctl -w net.ipv4.conf.eth0.rp_filter=0

Note: These settings are not persistent across reboots! To persist them you can add a file in /etc/sysctl.d/ on most distributions. See debian/50-rcdiscover-rpfilter.conf for an example.

If you built a Debian package with make package, it will automatically ask you if you want to disable reverse path filtering at package installation.

Compiling on Windows

Using MinGW-w64

Install MinGW-w64 by e.g. downloading mingw-w64-install.exe from here. During setup, choose i686 if you want to build 32 bit binaries, or x84_64 for 64 bit. For Threads, select win32. The rest can stay default.

Finally, add the bin directory of MinGW to your PATH variable. For 32 bit installation, it is normally found in C:\Program Files (x86)\mingw-w64\i686-7.1.0-win32-dwarf-rt_v5-rev0\mingw64\bin, for 64 bit it is C:\Program Files\mingw-w64\x86_64-7.1.0-win32-seh-rt_v5-rev0\mingw64\bin.

WxWidgets

Static libraries of WxWidgets are required for the rcdiscover-gui. To build them, the steps from here have been adapted slightly:

git clone https://github.com/wxWidgets/wxWidgets.git
cd wxWidgets
git checkout v3.1.0  # or other stable version
cd build\msw
mingw32-make -f makefile.gcc SHARED=0 BUILD=release -j4 CXXFLAGS="-mtune=generic -mno-abm" CFLAGS="-mtune=generic -mno-abm"

rcdiscover

cd rcdiscover
mkdir build-mingw32
cd build-mingw32
cmake -G"MinGW Makefiles" -DCMAKE_BUILD_TYPE=Release -DBUILD_RCDISCOVER_GUI=ON -DwxWidgets_ROOT_DIR=<path to WxWidgets root folder> ..
mingw32-make

For the 32 bit build you may encounter a 0xc000007b error when running rcdiscover-gui.exe. This seems to be caused by a bug in WxWidgets build. As a workaround, rename rcdefs.h in lib\gcc_lib\mswu\wx\msw in your WxWidgets root directory to something different (e.g., rcdefs.h_old). Then, rerun above WxWidgets build command:

cd build\msw
mingw32-make -f makefile.gcc SHARED=0 BUILD=release -j4 CXXFLAGS="-mtune=generic -mno-abm" CFLAGS="-mtune=generic -mno-abm"

Finally, rebuild rcdiscover.

Changelog for package rcdiscover

1.1.7 (2024-03-12)

• CI: remove bionic and appimage, add arm64 jammy
• fix include cstdint for newer gcc versions

1.1.6 (2022-08-08)

• Always wait minimum of 1 seconds for getting responses to discovery request
• CI, also build for jammy

1.1.5 (2022-06-30)

• Changing label of filter from \"Only Roboception devices\" to \"Only rc... devices\"
• Trying to create a CI build job for an appimage (not yet complete)

1.1.4 (2021-07-15)

• fix version in package.xml

1.1.3 (2021-07-15)

• use target_compile_features instead of CMAKE_CXX_STANDARD
• fix installation destination for package.xml

1.1.2 (2021-06-14)

• update cmake files and packaging, requires cmake >= 3.1

1.1.1 (2021-04-16)

• Ignore network unreachable socket error under Windows

1.1.0 (2021-02-05)

• Treat all devices as comming from Roboception if model starts with either rc_visard or rc_cube

1.0.5 (2020-10-02)

• Added building on CI for focal
• persistently store window state

1.0.4 (2020-04-04)

• only enable reset button and context menu entry for rc_visard devices
• remove catkin build_export_depend from package.xml

1.0.3 (2020-03-22)

• fix mapping of reachability flag in the GUI
• more generic naming as it can also be used for other GEV devices
• only show rc_visards in \"reset\" dialog

1.0.2 (2019-12-12)

• Added filtering by model name in command line tool
• Do not append alternative interface to output of cli if --serialonly or --iponly is given

1.0.1 (2019-09-16)

• rename CMAKE options from [INSTALL_x]{.title-ref} to [BUILD_x]{.title-ref}
• improve debian packaging via CPack

1.0.0 (2019-06-04)

• fix wildcard matching
• allow filtering by interface
• print interface on which the device was found
• also build shared lib for use in other packages
• make it possible to release as ROS third party package

0.9.2 (2019-01-10)

• GUI: fix WebGUI cannot be opened via context menu (GitHub issue #4)

0.9.1] (2019-01-08)

• GUI: fix reading of device name
• CLI: rename \'username\' to \'name\' and \'serialnumber\' to \'serial number\' in device list header

0.9.0 (2018-12-19)

• CLI: print model
• extend CLI interface (SW-302)
  • reset
  • forceip
  • reconnect
• show model on GUI (SW-300)
• GUI: show complete package version in about dialog
• fixed hidden buttons for Ubuntu Bionic

0.8.0 (2018-11-12)

• add opying device info to clipboard
• add device filter text field
• Changed some dialog workflows
• Added KUKA to manufacturer filter

0.7.0 (2018-01-05)

• Added possibility to filter for name, serial number and mac address to command line tool
• include <array> in utils

0.6.0 (2017-11-09)

• add force IP command: setting of temporary IP address
• add [-serialonly]{.title-ref} flag for command line tool

0.5.0 (2017-09-29)

• Optional disabling of RP filtering during installation on Ubuntu
• Directed broadcasts on Windows

0.4.2 (2017-08-31)

• add Desktop files and icons for debian
• Disabled vectorization and binding to CUDA

0.4.1 (2017-08-21)

• Fixed bug that prevented the main window from being closed once the help dialog was opened from the reset dialog

0.4.0 (2017-08-04)

• Help buttons

0.3.2 (2017-07-06)

• Build console application as Windows console application
• Sign with SHA512

0.3.1 (2017-07-04)

• Fixed rcdiscover console application

0.3.0 (2017-07-04)

• Global broadcast instead of directed
• add reachability check via ping

0.2.0 (2017-06-29)

• Removed IP address form from Reset Dialog

0.1.0 (2017-06-26)

• Initial release