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Short note on installation of (parts of) mobotware on Raspberry Pi
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=== Prerequisite ===
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First install 2012-10-28-wheezy-raspbian on the raspberry Pi flashdisk and expand the flash-disk to at least 4GB - see the instructions on http://elinux.org/RaspberryPiBoardBeginners


Assuming this is up and running - with internet access
== Prerequisite ==


=== Configure ===
* Raspberry pi - version 3 or 4
* SD-card preferably at least 16Gb
* Monitor with HDMI (version 3) or micro HDMI (version 4) cable
* keyboard - and optional a mouse
* Access to network (wired or wifi)
* Power - either an USB charger or cable to a PC (micro USB (version 3) or USB-C (version 4)


Using raspi-config enable
It should be possible to start using USB or wifi connection from a PC without extra screen or keyboard, find solutions on internet - I have not tried.
Expand Filesystem
Enable Camera
Set hostname
Enable SSH
Enable i2c - load module as default
Disable Serial login


reboot
====Make SD card a FAT32 partision, if reusing an old card====


=== Login ===
A new SD-card is fine as is, else


login as pi, password raspberry
see http://qdosmsq.dunbar-it.co.uk/blog/2013/06/noobs-for-raspberry-pi/ for instruction to prepare any old or new SD-card


add a user called local
====Add boot-files to SD card====


sudo adduser local
=====RPI imager =====
sudo usermod -a --groups adm,cdrom,sudo,audio,video,plugdev,games,users,netdev,input,spi,gpio local


switch user to local, and ensure groups are OK, and network is running
Version 10 (buster) is easily installed using the 'Raspberry pi imager',
on Linux install with


  su - local
  snap install rpi-imager
  groups
  rpi-imager
ifconfig


Note the inet address.
and follow the screen


Now it is possible to login from network.
=====manual =====


'''Do NOT login as root'''
or


=== Packages needed for Mobotware RHD/MRC ===
Get the install zip-file from https://www.raspberrypi.org/downloads/noobs/  


The following packages needs to be installed - e.g. using apt-get like:
Then unpack NOOBS zip-file to the new disk (use the newest version), like
for the network version
unzip NOOBS_lite_v3_5_1.zip -d /media/xxx/yyyy  or
unzip ~/Downloads/raspberry/NOOBS_lite_v3_5_1.zip  (if you are on the empty flash)
or for the full version
unzip NOOBS_v3_5_1.zip -d /media/xxx/yyyy  or
unzip ~/Downloads/raspberry/NOOBS_v3_5_1.zip  (if you are on the empty flash)


sudo apt-get install subversion
====Reboot====


Package list:
* Insert SD card on Raspberry,
* Mount a heatsink - especially needed on version 4,
* Connect monitor, keyboard and (USB) power


subversion  (to fetch mobotware from SVN)
That is all, Raspberry should boot on that, and take some time to prepare the SD-Card.
libexpat-dev  (RHD)
Or see instructions on e.g.: https://www.raspberrypi.org/help/noobs-setup/
pciutils-dev  (RHD)
libncurses-dev (RHD)
bison          (MRC)
libsdl-dev    (MRC)
telnet        (MRC test)
sudo apt-get install subversion libexpat-dev pciutils-dev libncurses-dev bison libsdl-dev telnet


=== Additional for AURS (e.g. camera server) ===
* Boot the raspberry and install the Raspberry Pi OS full (Debian).
* On the bottom of the screen select keyboard layout and language,


Package list
Settings
cmake
libopencv-dev
libreadline-dev
libudev-dev
libusb-dev
libv4l-dev
python-dev
libgstreamer0.10-dev
libboost-dev
libboost-system-dev
sudo apt-get install cmake libopencv-dev libreadline-dev libudev-dev libusb-dev libv4l-dev python-dev libgstreamer0.10-dev libboost-dev libboost-system-dev


=== Get Mobotware ===
* Leave the pi password as is (for future reuse)
* Select language (prefer English - also for future reuse)
* select wifi access - if not using a cable.


==Usefull Linux commands==


Here are some common commands in Linux


Get and unpack mobotware - you need the following directories only for RHD and MRC:
ls    (directory file list)
  mobotware/aumat
cd    (change to home directory)
  mobotware/mrc
cd some_directory    (change to a subdirectory)
  mobotware/rhd
exit  (logout, e.g. of a ssh session)
  mobotware/build
grep -n string_to_look_for_in_a_file  *.cpp    (find a string in a file, e.g. a variable or a function)
The rest of the directories can be deleted, so can rhd/branches
sudo some_command    (execute a command as "root" - root is a superuser with administrator rights to everything)
pkill some_application_name  (stop (or kill) a running process with name "some_application_name")
pgrep some_application_name  (see if a process is running - good to use before a kill)
mv  from_file to_file    (rename a file)
  cp  from_file to_file    (copy a file)
  rm  some_file            (remove (delete) a file)
  nano some_file          (simple text editor)
  zip, unzip              (pack or unpack files -  try zip --help  to see how.
top    (see process load and memory usage)
make    (compile all as described in the "Makefile" in the same directory)
make -j4 (compile using up to 4 CPU cores - faster if more files need to be compiled)


=== Modify makefiles ===
All commands have an online help if you add --help or -h after the command.
If this is not enough, then try
man ls
to get the manual page for the ls command.


Enter the mobotware directory
== Configure ==


cd mobotware-XXX
==== Raspberry ====


==== main Makefile ====
use raspi-config, start a terminal:


  nano -w Makefile
  sudo raspi-config


Change this section
Using ''raspi-config''
 
  Enable Camera
APPSUBDIRS = aumat/trunk \
  Set hostname (one word, no space)
    aurobotservers/trunk/include \
  Enable SSH
    aurobotservers/trunk/libs \
  Disable Serial login
    mapbase/trunk \
  boot as a console with login
    rhd/trunk \
  Update firmware
    mrc/trunk \
  Set locale to "en_DK.UTF-8 UTF-8" (danish keyboard, but English language)
    hakoclient/trunk  \
    aurs-plugins/aumanager aurs-plugins/aumrcobst aurs-plugins/auplanner/trunk \
    aurs-plugins/auzoneobst \
    aurobotservers/trunk \
    simulator/trunk
 
to delete the lines
 
hakoclient/trunk  (GUI for HAKO tractor)
simulator/trunk  (simulator will not run on raspberry)
 
so that it looks like
 
APPSUBDIRS = aumat/trunk \
    aurobotservers/trunk/include \
    aurobotservers/trunk/libs \
    mapbase/trunk \
    rhd/trunk \
    mrc/trunk \
    aurs-plugins/aumanager aurs-plugins/aumrcobst aurs-plugins/auplanner/trunk \
    aurs-plugins/auzoneobst \
    aurobotservers/trunk
 
Remember to remove the last back-slash
 
==== RHD plugins Makefile ====
 
cd rhd/trunk/plugins
nano -w Makefile
 
In this section
 
PLUGINLIST := auserial gps crossbow fogyro hakocan smrdserial rflex \
              rs232linesensor powercube esm slugs usbiss sf9dof \
              joycontrol gdm8246 buspiratei2c buspiratead \
              herkulex saberandmagenc imu gps2\
              smrarm rhdlog hexakopter gbprofibus roboteq gpsSocket \
              fieldsteer fielddrive fieldfrontenc \
              dynamixel cruizcore simstage3
 
Remove
  gbprofibus
cruizcore simstage3
 
==== Camera server libraries Makefile ====
 
goto AURS library
 
cd mobotwareXXX/trunk/libs/
  nano -w Makefile
 
in this section
BASELIBS = ../include ../lib \
  ugen4 urob4 umap4 ucam4 \
  liblineext dglib freenect \
  aulibextractfeatures utils \
  ../src/ulmsserver
 
remove
freenect  (kinect library)
 
==== AURS application Makefile ====
 
Goto the src directory
 
  cd mobotwareXXX/trunk/src/
  nano -w Makefile
 
Change line
 
  apps = auclient  auservertest  ucamserver  uclient  ulmsserver  userver qclient
to
apps = auclient  auservertest  ucamserver  uclient  ulmsserver  userver
 
==== AURS plugins Makefile ====
 
Goto plugin directory
 
cd mobotwareXXX/trunk/plugin/
nano -w Makefile
 
in the section
 
===Test Gstreamer===
Test to get camera working using gstreamer
 
Package list
alsa-tools gstreamer0.10-alsa gstreamer0.10-ffmpeg
gstreamer0.10-fluendo-mp3 gstreamer0.10-plugins-base
gstreamer0.10-tools
- did not help - neither auv4lgst nor VLC can capture images
v4l-compatibility seems OK
 
=== Build ===
Build the needed parts of mobotware, e.g.:
cd ~/mobotware/aumat/trunk
make
cd ../../rhd/trunk
make
cd ../../mrc/trunk
make
In this order
 
Then collect the configuration and binary files in a test directory
 
=== Test ===
 
make a test directory and fill it with the needed configuration and binary files, e.g.
  mkdir live
cd live
cp -r ~/mobotware/build/config/ROBOT_TYPE/* .
ln -s ~/mobotware/rhd/trunc/build/bin/rhd .
ln -s ~/mobotware/rhd/trunk/build/bin/rhdtest .
ln -s ~/mobotware/mrc/trunk/mrc/mrc .
echo "" >calib/wdssparam.dat
 
You now need to modify the rhdconfig.xml file:
Change the path to plugins, using e.g. nano
nano -w rhdconfig.xml
Change the line (assuming you use the default pi user)
from: <plugins basepath="/usr/local/smr/lib/rhdplugin/">
  to:  <plugins basepath="/home/pi/mobotware/rhd/trunk/build/lib/rhdplugin/">
In the rhdconfig.xml there is already a number og plugins, this list need to be updated to your configuration.
 
To test if the RHD is running you may just change the attribute critical="true" to critical="false", the RHD will then continue even if the plugin fails to initialize. If some plugin is not found - e.g. maestro12ch.so.1 (it is not compiled by default) - then delete it from the rhdconfig.xml file, or change enable="true" to enable="false" for this plugin.
 
The file calib/robot.conf needs update too.
You may use the configuration files in mobotware/build/config for inspiration
 
Now start the RHD (in the live directory):
./rhd
It should end by saying "RHD is running", else check the rhdconfig.xml as above.
 
Open a new terminal tab and run rhdtest to see if it is alive:
./rhdtest
And type
connect
You should now see a list of variables, where at least the Tick is updating.
 
Stop the rhdtest with ctrl-c
 
===MRC test===
Start the MRC (while the RHD is running) using socket interface:
./mrc -t1
In another terminal window use telnet to connect to the MRC
telnet localhost 31001
MRC commands like
eval $time
Should now be avilable


If all this is OK, then the raspberry Pi is running, and you only need to connect it to your robot througt an appropriate set of rhd plug-ins and make a MRC script to make it run.
=== Update operating system ===


===Performance===
Ensure you have internet access, then


The RHD and MRC running in idle with an update rate of 100 HZ is consuming about 3-4% CPU load each.
sudo apt-get update
sudo apt-get dist-upgrade
sudo reboot

Latest revision as of 09:54, 24 December 2021

Back to Robobot

Back to Flexbot


Prerequisite

  • Raspberry pi - version 3 or 4
  • SD-card preferably at least 16Gb
  • Monitor with HDMI (version 3) or micro HDMI (version 4) cable
  • keyboard - and optional a mouse
  • Access to network (wired or wifi)
  • Power - either an USB charger or cable to a PC (micro USB (version 3) or USB-C (version 4)

It should be possible to start using USB or wifi connection from a PC without extra screen or keyboard, find solutions on internet - I have not tried.

Make SD card a FAT32 partision, if reusing an old card

A new SD-card is fine as is, else

see http://qdosmsq.dunbar-it.co.uk/blog/2013/06/noobs-for-raspberry-pi/ for instruction to prepare any old or new SD-card

Add boot-files to SD card

RPI imager

Version 10 (buster) is easily installed using the 'Raspberry pi imager', on Linux install with 

snap install rpi-imager
rpi-imager

and follow the screen

manual

or

Get the install zip-file from https://www.raspberrypi.org/downloads/noobs/

Then unpack NOOBS zip-file to the new disk (use the newest version), like for the network version 

unzip NOOBS_lite_v3_5_1.zip -d /media/xxx/yyyy  or
unzip ~/Downloads/raspberry/NOOBS_lite_v3_5_1.zip  (if you are on the empty flash)

or for the full version 

unzip NOOBS_v3_5_1.zip -d /media/xxx/yyyy  or
unzip ~/Downloads/raspberry/NOOBS_v3_5_1.zip  (if you are on the empty flash)

Reboot

  • Insert SD card on Raspberry,
  • Mount a heatsink - especially needed on version 4,
  • Connect monitor, keyboard and (USB) power

That is all, Raspberry should boot on that, and take some time to prepare the SD-Card. Or see instructions on e.g.: https://www.raspberrypi.org/help/noobs-setup/

  • Boot the raspberry and install the Raspberry Pi OS full (Debian).
  • On the bottom of the screen select keyboard layout and language,

Settings

  • Leave the pi password as is (for future reuse)
  • Select language (prefer English - also for future reuse)
  • select wifi access - if not using a cable.

Usefull Linux commands

Here are some common commands in Linux 

ls     (directory file list)
cd     (change to home directory)
cd some_directory    (change to a subdirectory)
exit   (logout, e.g. of a ssh session)
grep -n string_to_look_for_in_a_file  *.cpp     (find a string in a file, e.g. a variable or a function)
sudo some_command    (execute a command as "root" - root is a superuser with administrator rights to everything)
pkill some_application_name  (stop (or kill) a running process with name "some_application_name")
pgrep some_application_name  (see if a process is running - good to use before a kill)
mv  from_file to_file    (rename a file)
cp  from_file to_file    (copy a file)
rm  some_file            (remove (delete) a file)
nano some_file           (simple text editor)
zip, unzip               (pack or unpack files -  try zip --help   to see how.
top     (see process load and memory usage)
make    (compile all as described in the "Makefile" in the same directory)
make -j4 (compile using up to 4 CPU cores - faster if more files need to be compiled)

All commands have an online help if you add --help or -h after the command. If this is not enough, then try 

man ls

to get the manual page for the ls command.

Configure

Raspberry

use raspi-config, start a terminal: 

sudo raspi-config

Using raspi-config 

Enable Camera
Set hostname (one word, no space)
Enable SSH
Disable Serial login
boot as a console with login
Update firmware
Set locale to "en_DK.UTF-8 UTF-8" (danish keyboard, but English language)

Update operating system

Ensure you have internet access, then 

sudo apt-get update
sudo apt-get dist-upgrade
sudo reboot
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