I need to configure the TK1 to work with kobuki base (it’s a turtlebot) and an intel r200 realsense camera.
To make the r200 camera work, apparently you need to recompile the kernel setting the UVCVIDEO module to be an external module, as shown in this tutorial:
And in order to make the kobuki base work, you need to use this grinch kernel:
(Not necessarily the specific kernel, but it has some modifications that allow the kobuki base to be recognized, otherwise it gives the error Kobuki : device does not (yet) available on this port, waiting…. I am not quite sure what it is, but it has to do with FTDI configuration: Connection to the kobuki base is via usb enabled by an ftdi usb-serial converter)
My question then is how do I integrate both? My guess is I need to recompile the kernel applying the patches described in the second link together with the UVCMODULE change in the .config file (set as external module) and then just copy the compiled zImage to the /boot/zImage.
I’m fairly new to this, so I expect to encounter some problems. For instance, after compiling the kernel you only get the zImage, right? I don’t get where did this firmware and those modules given by the second link came from; do I just ignore them?
One last question!: What is the difference between changing the .config file, as shown in the first link, and applying those patches shown in the second link? I guess in the later one we change code, while in the former we change certain flags, but is there any relation between the two that I need to be careful?