3.2.1.1. Pulling latest version with internet access¶

On the MCT master computer the following command should be run twice - once from within the local copy of the MCT source repository (e.g. ~/ros/mct) and a second time from within the local copy of the MCT configuration repository (e.g. ~/ros/mct_config).

# Pull and update mercurial repository
hg pull -u

This will update the local copes of the MCT software and configuration to the latest version.

3.2.1.2. Pulling latest version without internet access¶

If the MCT master does not have internet access copies of the latest versions of the MCT software and configuration repositories will need to be downloaded onto a thumb drive (or similar) on a computer with does.

Copies (.zip archives) of the latest versions of the repositories can be downloaded from here

• MCT software https://bitbucket.org/iorodeo/mct/downloads
• MCT configuration https://bitbucket.org/iorodeo/mct_config/downloads

Unzip the downloaded archives and place them on a thumbdrive. Then copy them to a temporary directory on the MCT master computer (e.g. ~/temp).

On the MCT master computer the following command should be run twice - once from within MCT source repository (e.g. ~/ros/mct) and a second time from within the local copy of the MCT configuration repository (e.g. ~/ros/mct_config).

# Pull and update mercurial repository
hg pull -u <path to downloaded repository>

In the above command the <path to downloaded repository> should be replaced by the path to repositories in the temporary directory downloaded in the previous step. For example, if the repository for the MCT was downloaded to a directory named iorodeo-mct-999b0e854397 in the ~/temp directory, the you would run the command

# Pull and update mercurial repository
hg pull -u ~/temp/iorodeo-mct-999b0e854397

from within the ~/ros/mct directory.

3.2.1.3. Building the ROS packages on master computer.¶

The next step is to build the ROS packages on the MCT master computer. On the MCT master computer, from within the mct source repository (~/mct/ros), run the following command.

# Build the ROS packages on the mct master
rosmake

3.2.1.4. Updating the slave computers¶

From the MCT master run the following commands (from any directory - doesn’t matter).

# Update the setup on the slave computers
mct push_setup

# Update the mct repositories on each of the slaves.
mct pull_from_master

# Build the ROS packages on the mct slaves
mct rosmake

The MCT software and configuration files should now be up to date.

3.2.1.5. Updating udev rules¶

In order for the MCT software to find the random synchronization USB device it is necessary to add some udev rules to the system. A new template udev rules file (99-mct-usb-serial.rules) can be found in the mct/mct_computer_admin/misc directory. The contents of this file are as follows:

SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{product}=="FT232R USB UART", ATTRS{serial}=="A8007Ryg", SYMLINK+="camera-trigger"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{product}=="FT232R USB UART", ATTRS{serial}=="A7006RxL", SYMLINK+="active-target"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{product}=="ARDUINO NANO", ATTRS{serial}=="11IP1984", SYMLINK+="pulse-skipper"
SUBSYSTEM=="tty", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", ATTRS{product}=="USB-Serial Controller D", SYMLINK+="mightex-serial-0"
SUBSYSTEM=="tty", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", ATTRS{product}=="USB-Serial Controller", SYMLINK+="mightex-serial-1"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{product}=="FT232R USB UART", ATTRS{serial}=="A600feL8", SYMLINK+="mightex-serial-2"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{product}=="FT232R USB UART", ATTRS{serial}=="A600feL9", SYMLINK+="mightex-serial-3"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{product}=="FT232R USB UART", ATTRS{serial}=="A600feLa", SYMLINK+="mightex-serial-4"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{product}=="FT232R USB UART", ATTRS{serial}=="A600feLb", SYMLINK+="mightex-serial-5"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{product}=="ARDUINO NANO", ATTRS{serial}=="12DP0619", SYMLINK+="rand-sync"

The last line of this file creates a symbolic link (rand-sync) for the random synchronization device. This symbolic link is required in order for the MCT software to find the random synchronization hardware. Two attributes (ATTRS) on this line may need to be modified in order to match your exact hardware - ATTRS{product} and ATTRS{serial}. If you know don’t know these values for your device see the Appendix section on Finding ATTRS{product} and ATTRS{serial} for your USB/Serial device.

After changing the “product” and “serial” entries in the udev rules files 99-mct-usb-serial.rules, so that they math the values for your device, copy this file to the /etc/udev/rules.d folder with the folowing command (note I assume that you are in the same directory as the 99-mct-usb-serial.rules file)

sudo cp 99-mct-usb-serial.rules /etc/udev/rules.d/

Send a signal to udevd to reload the rules file

sudo udevadm control --reload-rules

The MCT software should know be able to find the random synchronization device when it is connected via the USB cable.