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Short note on installation of (parts of) mobotware on Raspberry Pi (or Beagle-bone)
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For Beagle-bone skip to "Login" with adduser or installation o, the rest should work, as they are both almost the same processor and operating system. Note this guide is not pt. tested on beagle-bone.
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=== Prerequisite ===


Make a SD-card bootable with NOOBS.
== Prerequisite ==


use gparted, select the sd-card (probably the last on the list) remove any partitions on the sd-card, and create one new FAT32 partition.
* Raspberry pi - version 3 or 4
sudo gparted
* SD-card preferably at least 16Gb
Then unpack NOOBS zip-file to the new disk, like
* Monitor with HDMI (version 3) or micro HDMI (version 4) cable
unzip NOOBS_v1_4_2.zip -d /media/xxx/yyyy
* 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)


That is all, Raspberry should boot on that.
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.


or see instructions on e.g.: https://www.raspberrypi.org/help/noobs-setup/
====Make SD card a FAT32 partision, if reusing an old card====


Boot the raspberry and install the DEBIAN Linux.
A new SD-card is fine as is, else


Assuming DEBIAN is up and running - with internet access:
see http://qdosmsq.dunbar-it.co.uk/blog/2013/06/noobs-for-raspberry-pi/ for instruction to prepare any old or new SD-card


=== Configure ===
====Add boot-files to SD card====


==== Raspberry ====
=====RPI imager =====


use raspi-config, start a terminal:
Version 10 (buster) is easily installed using the 'Raspberry pi imager',
on Linux install with


  sudo raspi-config
  snap install rpi-imager
rpi-imager


Using ''raspi-config''
and follow the screen
Expand Filesystem (if not OK already)
Enable Camera
Set hostname
Enable SSH
Enable i2c - load module as default
Disable Serial login
boot as a console with login
Update firmware


==== Beagle bone ====
=====manual =====


login as root (no password)
or


After installing a boot-image on a microsd-card with debian, follow the instaructions to expand the boot image to use the full sd-card, as described in: http://elinux.org/Beagleboard:Expanding_File_System_Partition_On_A_microSD
Get the install zip-file from https://www.raspberrypi.org/downloads/noobs/


=== Update operating system ===
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)


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


sudo apt-get update
* Insert SD card on Raspberry,
sudo apt-get dist-upgrade
* Mount a heatsink - especially needed on version 4,
sudo reboot
* Connect monitor, keyboard and (USB) power


=== Login ===
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/


login as ''pi'', password ''raspberry''
* Boot the raspberry and install the Raspberry Pi OS full (Debian).
* On the bottom of the screen select keyboard layout and language,


or on beaglebone as root (no password)
Settings


add a user called ''local''
* 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.


sudo adduser local
==Usefull Linux commands==
sudo usermod -a --groups adm,cdrom,sudo,audio,video,plugdev,games,users,netdev,input,spi,gpio,i2c local


switch user to ''local'', and ensure groups are OK, and network is running
Here are some common commands in Linux


  su - local
  ls    (directory file list)
  groups
cd    (change to home directory)
  ifconfig
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)


Note the inet address.
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.


Now it is possible to login (as ''local'') from network.
== Configure ==


=== Get access using hostname ===
==== Raspberry ====


To get access to the raspberry (beaglebone) using hostname mey be convinient if the allocated IP changes.
use raspi-config, start a terminal:


Install the avahi-daemon
sudo raspi-config


  sudo apt-get install avahi-daemon
Using ''raspi-config''
  sudo service avahi-daemon restart
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)


You may change the hostname by changing the name in /etc/hostname. If you do so, then you should probably restart before the new hostname works.
=== Update operating system ===


Now from another PC on the local network
Ensure you have internet access, then


ping hostname.local
  sudo apt-get update
 
  sudo apt-get dist-upgrade
where "hostname" is replaced with the hostname you assigned.
  sudo reboot
 
=== Get filesystem on normal PC ===
 
From another (Linux) PC, mount the raspberry filesystem
 
mkdir rpi  (where the filesystem will be mounted)
sshfs local@10.59.8.141: rpi    (replace IP number with inet address from above, or use ''sshfs local@hostnale.local: rpi'')
 
Then in directory ''rpi'' the user files on the raspberry can be manipulated.
 
for other access, use (with IP address as found above, or IP replaced with ''hostname.local'')
 
ssh -X local@10.59.8.141
 
=== Packages needed for Mobotware RHD/MRC ===
 
The following packages needs to be installed - e.g. using apt-get like:
 
sudo apt-get install subversion
 
Package list for RHD and MRC:
 
subversion  (to fetch mobotware from SVN)
libexpat-dev  (RHD)
pciutils-dev  (RHD)
libncurses-dev (RHD)
bison          (MRC)
libsdl-dev    (MRC)
telnet        (MRC test)
sshfs          (may be a good idea to access filesystem from another PC)
  sudo apt-get install subversion libexpat-dev pciutils-dev libncurses-dev bison libsdl-dev telnet sshfs
 
=== Additional for AURS (e.g. camera server) ===
 
Package list
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
 
==== Camera driver source ====
 
(not for beaglebone)
 
To use the raspberry camera (and compile the aupicam plugin) the ''userland'' sourcecode (from https://github.com/raspberrypi/userland):
 
git clone https://github.com/raspberrypi/userland.git userland-master
 
the version at October 2015 crashes when closing the camera, to avoid this, with no observed side effects, comment out a line:
In file userland-master/interface/mmal/util/mmal_util.c, remove the ' ''if (!vcos_verify(!port->is_enabled))'' ' line:
 
/** Destroy a pool of MMAL_BUFFER_HEADER_T */
void mmal_port_pool_destroy(MMAL_PORT_T *port, MMAL_POOL_T *pool)
{
  if (!port || !port->priv || !pool)
      return;
  LOG_TRACE("%s(%i:%i) port %p, pool %p", port->component->name,
            (int)port->type, (int)port->index, port, pool);
/*  if (!vcos_verify(!port->is_enabled)) */    <-------------------comment out this line
  {
      LOG_ERROR("port %p, pool %p destroyed while port enabled", port, pool);
      mmal_port_disable(port);
  }
  mmal_pool_destroy(pool);
}
 
You can compile without the change, but may experience that camera server crashes when changing parameters and when closing.
 
Now:
 
cd ~/userland-master
mkdir build
cd build
cmake ..
make
sudo make install
 
This will copy the needed header and library files to ''/opt/vc'' and other places.
 
===Time server===
 
NTP (Network Time Protocol) is installed on raspberry as default, using public time servers
If used on a robot or on our intranet, this must be changed.
 
edit /etc/ntp.conf, change the server list to
 
server 192.168.0.210
server 10.59.8.1
server 0.dk.pool.ntp.dk
server 1.dk.pool.ntp.dk
server 2.dk.pool.ntp.dk
 
The first is the cabled connection on our robots (most should be configured as NTP server), the second is our intranet time server (and gateway), the rest is DK time pool servers.
 
After the change restart the NTP
 
sudo service ntp restart
 
=== Mount filesystem ===
 
As an option, mount the home directory on raspberry-pi to your local PC for easy
file modification.
 
On your PC type make a directory for the filesystem
 
mkdir rpi
sshfs local@10.59.8.141: rpi
ls rpi
 
with your IP address or IP replaced by ''hostname.local''.
 
Unmount with
 
fusermount -u rpi
 
=== Get Mobotware ===
 
Get and unpack mobotware - see main page of this wiki for info
 
Either from SVN - if you have access, or from our lab-computers as a mobotware-XXX.tar.gz file, where XXX is version number.
 
unpack if a .gz file and make a symbolic link to "mobotware" to make this guide work.
 
tar -xzf mobotware-XXX.tar.gz
ln -s mobotware-XXX mobotware
 
or, if from SVN:
 
svn co svn://repos.gbar.dtu.dk/jcan/mobotware mobotware
 
this makes a mobotware directory with all the files.
 
=== Modify makefiles ===
 
Not all parts of Mobotware runs on a raspberry, so some parts must be removed from the Makefiles:
 
Enter the mobotware directory
 
cd mobotware-XXX
 
==== main Makefile ====
 
nano -w Makefile
 
Change this section
 
APPSUBDIRS = aumat/trunk \
    aurobotservers/trunk/include \
    aurobotservers/trunk/libs \
    mapbase/trunk \
    rhd/trunk \
    mrc/trunk \
    hakoclient/trunk  \
    aurs-plugins/aumanager aurs-plugins/aumrcobst aurs-plugins/auplanner/trunk \
    aurs-plugins/auzoneobst \
    aurobotservers/trunk \
    simulator/trunk
 
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
simstage3
 
==== server Plug-ins etc.====
 
Some servers and plug-ins are excluded from raspberry pi (''qclient'', ''kinect'' and point-cloud related plug-ins)
in the respective Makefiles.
 
=== Build ===
Build mobotware:
cd ~/mobotwareXXX
make
 
This should now compile with warnings only
 
(''augraphplan.h not found'' may appear,
but try one more ''make'', then it usually works
@todo - find out why)
 
=== install ===
 
The easyest way to use Mobotware is then to install into /usr/local/smr.
 
This is done by
 
sudo make install
 
There will be a few error messages related to the uncompileable modules: qclient, hakoclient, simserver and libstage, this is OK.
 
==== setup path ====
 
Add the mobotware bin-directory into default PATH in ''/etc/profile''
 
sudo nano -w /etc/profile
 
append the PATH line with '':/usr/local/smr/bin'' two places, like:
 
...
if [ "`id -u`" -eq 0 ]; then
  PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/smr/bin"
else
  PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games:/usr/local/smr/bin"
fi
...
 
And add mobotware AURS library path into .bashrc
 
nano -w ~/.bashrc
 
append a line like this
 
export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/usr/local/smr/lib"
 
To make this work, you have to logout and login again.
 
=== Make a Mobotware test configuration ===
 
Logout and login to ensure that the PATH settings gets implemented
 
Make a directory to run from
 
mkdir ~/live
cd ~/live
 
Copy a robot configuration file
 
cp -r /usr/local/etc/mobotware/calib .
 
make a ''rhdconfig.xml'' file with this content (loads a ''joystick'' and ''log'' plugin only).
Look in ''mobotware/build/config'' for specific versions for different robots.
 
<?xml version="1.0" ?>
<!--
    Configuration file for
    Robot Hardware Daemon
-->
<!-- Starting RHD Configuration -->
<rhd>
  <!-- *** Core Components Configuration *** -->
  <!-- Sheduler configuration -->
  <sheduler>
    <period value="12000"/><!--in usec-->
    <type value="LXRT"/><!--"usleep","itimer","LXRT" -->
  </sheduler>
  <!-- Server configuration -->
  <server>
    <port value="24902"/>
    <clients number="10" allwriters="1"/>
  </server>
  <!-- *** Plugins Configuration *** -->
  <plugins basepath="/usr/local/smr/lib/rhdplugin/">
    <!--
    Add your plugin here after this comment and
    leave joycontrol and log - they may be usefull.
    -->
    <joycontrol enable="true"
                    lib="libjoycontrol.so.1"
                    critical="false"
                    safety="1">
      <joystick port="/dev/input/js0"/>
      <!-- speed:
          maxfwd is max speed reference value send to device
          maxturn is max turn-angle angle-vel send to device
          fastBut is button number on joypad (0..10)
          slowFactor used when fastBut is not pressed (0.1 .. 1.0) 1.0 is default -->
      <speed maxfwd="900"
          maxturn="900"
          fastBut="5"
          slowFactor="0.3"/>
      <!-- deadband for joy-controll in joy-control units (+/- 32000) -->
      <deadband max="767" min="-767"/>
      <control enable="true"/>
    </joycontrol>
    <!-- rhdlog will open a file rhdlog.txt and write all symbol values here as fast as possible.
            it may not keep up writeing with the tick interval specified (can be changed online)
            interval = 0 (default) for no log - can be set online from rhdtest or MRC.
            interval = N if N=1 every tick, N=2 every other, N=3..
            File is created in default directory.
            After each write operation the data is flushed to disk (using fflush()).
            each line starts with a unix timestamp (gettimeofday) - set at tick call -->
    <rhdlog enable="true"
          lib="rhdlog.so.1"
          critical="false"
          interval="1"
          safety="2"
          debug="0">
    </rhdlog>
  </plugins>
</rhd>
 
=== Test Mobotware ===
 
==== RHD ====
 
Hardware abstraction layer (Robot Hardware Daemon)
 
Start RHD
 
rhd
 
It should end saying "RHD is running"
 
(Stops with ctrl-C)
 
==== MRC ====
 
Mobile Robot Control.
 
While the RHD is running (in another terminal)
 
start the MRC
 
cd ~/live
mrc
 
This should show a list of options
 
-press 5 to quit
 
==== Laser scanner server ====
 
Start laser scanner server
 
ulmsserver
 
There will be some errors as there is no laserscanner ...
 
Press enter a few times to get a prompt ">>"
 
Type
help
this should show a list of loaded plugins, like
 
...
Available commands (from currently loaded modules):
- push q server help shelp module do BASH alive quit exit
- scanGet scanPush scanSet
- odoPose odoPosePush
- mapPose mapPosePush
- utmPose utmPosePush
- var varPush
- poly
- mapbase
- settable addline setinitpose setinitcov localizeMHF localize resetlocalizer outputdist odoposeupdate resample localizeUKF
...
 
Try e.g.
scanget fake=3
this should show a lot of HEX numbers and a few more errors.
 
Press ''q'' to quit
 
==== Camera server ====
 
Copy the camera server configuration for raspberry camera (otherwise a default ucamserver.ini will be created without the raspberry plugins).
 
cp ~/mobotware/build/config/raspberry/ucamserver.ini .
 
Start the camera server - and optionally load the camera plug-in.
 
ucamserver
 
This should end with something like this
 
Camera_server 2.1966 (May  1 2015 13:42:21 jca@oersted.dtu.dk)
- on port 24920
- type h for help, q for quit
 
If camera is available, then use
poollist
 
to se if camera is running.
 
Pres ''q'' to quit
 
===Code change===
 
Every time you recompile any module, it is not implemented until you also run
 
cd ~/mobotware
sudo make install
 
To implement newly compiled modules right away, change a symbolic link:
 
cd /usr/local
  sudo rm smr
sudo ln -s ~/mobotware/build smr

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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