I’m trying to use MORSE / ROS for future robotics simulations with the Turtlebot and the VideoRay (ROV).  Thus, I’m going through the tutorials on MORSE (http://www.openrobots.org/morse/doc/latest/tutorials.html)

This video shows the result of the “A Journey to a New Simulation” tutorial, located at: http://www.openrobots.org/morse/doc/latest/user/advanced_tutorials/a_journey_to_a_new_simulation.html

First, you need to install some dependencies for latex, auctex, and okular…

$ sudo apt-get install okular texlive-full auctex

The texlive-full package is quite large, so grab some coffee.

Then add the following lines to your .emacs file your home directory:

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; Latex for Emacs
;; 
;; Dependencies: okular, texlive-full, auctex
;;
;; Okular setup: 
;; 1.) Open Okular and go to...
;; 2.) Settings -> Configure Okular -> Editor
;; 3.) Set Editor to "Emacs client"
;; 4.) Command should automatically set to: 
;; emacsclient -a emacs --no-wait +%l %f
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

;; only start server for okular comms when in latex mode
(add-hook 'LaTeX-mode-hook 'server-start)
(setq TeX-PDF-mode t) ;; use pdflatex instead of latex

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; Standard emacs/latex config
;; http://emacswiki.org/emacs/AUCTeX
(setq TeX-auto-save t)
(setq TeX-parse-self t)
(setq-default TeX-master nil)

(add-hook 'LaTeX-mode-hook 'visual-line-mode)
(add-hook 'LaTeX-mode-hook 'flyspell-mode)
(add-hook 'LaTeX-mode-hook 'LaTeX-math-mode)

; enable auto-fill mode, nice for text
(add-hook 'LaTeX-mode-hook 'auto-fill-mode)
(add-hook 'LaTeX-mode-hook 'turn-on-reftex)
(setq reftex-plug-into-AUCTeX t)
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; Enable synctex correlation
(setq TeX-source-correlate-method 'synctex)
;; Enable synctex generation. Even though the command shows
;; as "latex" pdflatex is actually called
(custom-set-variables '(LaTeX-command "latex -synctex=1") )
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; Use Okular as the pdf viewer. Build okular 
;; command, so that Okular jumps to the current line 
;; in the viewer.
(setq TeX-view-program-selection
 '((output-pdf "PDF Viewer")))
(setq TeX-view-program-list
 '(("PDF Viewer" "okular --unique %o#src:%n%b")))
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

You can read through the comments on individual lines if you are interested in what’s going on.

As described in the comments, you have to configure Okular to accept commands from emacs.

1. Open Okular
2. Navigate to: Settings -> Configure Okular -> Editor
3. Set Editor to “Emacs client”
4. This should automatically set Command to :  emacsclient -a emacs –no-wait +%l %f

That’s it for installation!  Congratulations!

To work with latex in emacs, open your favorite latex file (.tex extension)

You can use the buttons to compile the latex file and view the pdf viewer, but you really should use the emacs short cuts! Here is an example of my work flow after I open the latex file…

C-c C-c  : This command automatically runs the most appropriate latex command.  Thus, if you are starting from scratch, when you issue a C-c C-c, it will run latex (really pdflatex) on your .tex file.  If you have a .bib file with the same name as your latex file in the same directory, when you run C-c C-c again, it will automatically run bibtex! Then, due to how latex works, you issue C-c C-c two more times to resolve reference numbers.  Now that the latex file has been fully processed, if you run C-c C-c one more time, it will automatically issue the view pdf command.  When Okular opens up, it centers the pdf on the line that your cursor in emacs is located.  To test the backward search from Okular, click a line in the Okular pdf with SHIFT + LEFT CLICK and the cursor in emacs will jump to that same line!  All is right in the world.

Here is a cheat sheet for latex/auctex commands: http://devcheatsheet.com/static/pdf/auctex-ref.pdf

Also, the users at tex.stackexchange came up with a list of very useful commands:

http://tex.stackexchange.com/questions/20843/useful-shortcuts-or-key-bindings-or-predefined-commands-for-emacsauctex

MOOS / ROS Bridge

MOOS Code Example for GT students

1.) Install git.  The following command works on Ubuntu-like systems.  If you have another operating system see the git manual for installation.

$ sudo apt-get install git-core

2.) I keep all of my git repositories in the same folder for organizational reasons.  Typically, I keep them in the ~/git-repos folder.  So create it…

$ mkdir ~/git-repos

$ cd ~/git-repos

3.) Use git to clone (copy) the repository to your system

$ git clone https://code.google.com/p/gt-syllo/

http://www.kevindemarco.com/tutorials/morse-ros-installation/

1. Setup the IAC Driver in MAC OS X
2. Enable MIDI output from Ableton Live
3. Process MIDI input in Pure Data
4. See the output of the Pure Data patch that converts the MIDI to OSC.

I recorded this video tutorial in support of a previous post on MIDI to OSC conversion.

1.) Convert MIDI note information to OSC messages.
OSC (Open Sound Control) is just human readable “MIDI-like” information sent over UDP network packets. If you don’t know what UDP really is, you can think of it as a stream of information being blasted over your network from one program to another program (without any feedback on whether the message was received properly).  However, there is a lot of open source code out there that has been written to transmit, receive, and parse these OSC messages, so its a nice protocol to use when transmitting MIDI-like information over a network. For this patch, I targeted sending MIDI information from Ableton Live to Pure Data, where it was packed into an OSC message and broadcasted to the other computer. To setup Ableton live to transmit MIDI note information, go to a MIDI track in your Ableton live setup and select a software MIDI output device (See my post on IAC Driver for MAC or use MIDI-Yoke for Windows).  Then you will need to setup a MIDI track in Ableton live to transmit its MIDI information to the IAC Driver, which is received through the IAC Driver in Pure Data. The following Pure Data patch converts the MIDI to OSC and transmits it over the appropriate network.

MIDI to OSC in Pure Data

You can download the patch here: http://www.kevindemarco.com/archive/midi-to-osc.pd

The end point for the OSC message is determined by the “local” vs “remote” radio button and the IP address in the connect message.  Use localhost when you want the OSC endpoint to be on your current machine, use “remote” when you want to send the OSC messages to another computer.  Also, when using “remote” make sure to set the IP address in the connect message.

I tested the network activity with a combination of WireShark and the example OSC listener in Cinder. If you have never used WireShark and you plan on doing any network related activities, you really need to learn to use it… and it’s open source.

I’ll write about the LiveOSC endpoint selector patch in another post. This is too long already.

-Kevin