.. _Installation:


***************
Installation
***************

.. _Matlab:

Matlab
=============================

Use the iit campus licence to get matlab:

More information `here <https://it.mathworks.com/academia/tah-portal/istituto-italiano-di-tecnologia-31463831.html.>`__.

Relase version: **R2020b**.

Note: Leave the installation path = **/usr/local/MATLAB/R2020b/**

Installation
^^^^^^^^^^^^ 

* **cd /path_where_was_unizip_matlab/matlab_R2020b_glnxa64**
* **sudo ./install**
* **Note. If you don't see the Matlab installation page, use this command: xhost +SI:localuser:root (and then sudo ./install) ** 
* access with iit username and password.
* select the toolboxes described below.

Toolboxes
^^^^^^^^^

The minimum requiremets to make XBotBlock works are:

* **Matlab and Simulink**

.. image:: _static/Installation/Installation_Img_0.png

* **Embedded Coder**

.. image:: _static/Installation/Installation_Img_1.png

* **Matlab Components (i.e Compiler, Coder)**

.. image:: _static/Installation/Installation_Img_2.png

* **ROS Toolbox and Robotics System Toolbox**

.. image:: _static/Installation/Installation_Img_3.png

* **Simulink Components (i.e Compiler, Coder)**

.. image:: _static/Installation/Installation_Img_4.png

* **Stateflow**

.. image:: _static/Installation/Installation_Img_5.png


XBotBlock
=============================

Install XBotBlock::

   git clone https://github.com/ADVRHumanoids/XBotBlock_WP.git
   sudo dpkg -i XBotBlock_WP/debian/blockfactory/`lsb_release -cs`/blockfactory_package-0.8.3-r0.0.1-amd64.deb 
   sudo dpkg -i XBotBlock_WP/debian/XBotBlock/`lsb_release -cs`/XBotBlock_package-0.0.1-r0.0.1-amd64.deb
   sudo gedit /opt/xbot/setup.sh
   export BLOCKFACTORY_PLUGIN_PATH=/opt/xbot/lib/
   export MATLABPATH=/opt/xbot/mex/

Uinstall XBotBlock::

   sudo dpkg -r blockfactory_package 
   sudo dpkg -r xbotblock_package
   sudo gedit /opt/xbot/setup.sh
   remove
   "export BLOCKFACTORY_PLUGIN_PATH=/opt/xbot/lib/"
   "export MATLABPATH=/opt/xbot/mex/"

Simulink XBotBlock Toolbox
=============================

Install Simulink XBotBlock library::

   run matlab
   cd XBotBlock_Final_Product/XBotBlockToolbox  
   double click on XBotBlockToolbox_vf0.1.mltbx

.. image:: _static/Installation/Installation_Img_6.png

run simulink and click on Library Browser to verify if the toolbox is installed.

.. image:: _static/Installation/Installation_Img_7.png

Note: To uninstall the toolbox 

On matlab, Select Add-Ons, Manage Add-Ons

.. image:: _static/Installation/Installation_Img_8.png

Select XBotBlockToolbox library, right click and unistall.

.. image:: _static/Installation/Installation_Img_9.png

Matlab Patches
=============================

Install Matlab patches::

   cd XBotBlock_Final_Product/patch  
   sudo ./setup.sh

UInstall Matlab patches::

   cd XBotBlock_Final_Product/patch  
   sudo ./restore.sh

OpenSSH-Server
=============================

Install and configure openssh-server::

   sudo apt-get install openssh-server