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Short note on installation of (parts of) mobotware on Raspberry Pi (or Beagle-bone)
Back to [[Robobot]]


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.
Back to [[Flexbot]]


== Hardware schematics ==


Power and IO connections on version B+ can be found here:
== Prerequisite ==
https://www.raspberrypi.org/documentation/hardware/raspberrypi/schematics/Raspberry-Pi-B-Plus-V1.2-Schematics.pdf


* 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)


== Prerequisite ==
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 a SD-card bootable with NOOBS.
====Make SD card a FAT32 partision, if reusing an old card====


====Make SD card a FAT32 partision, if not already====
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
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====
====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


Then unpack NOOBS zip-file to the new disk, like
=====manual =====
  unzip NOOBS_v1_4_5.zip -d /media/xxx/yyyy
 
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====
====Reboot====


That is all, Raspberry should boot on that.
* 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,


or see instructions on e.g.: https://www.raspberrypi.org/help/noobs-setup/
Settings


Boot the raspberry and install the DEBIAN Linux.
* 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.


Assuming DEBIAN is up and running - with internet access:
==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 ==
== Configure ==
Line 41: Line 100:


Using ''raspi-config''
Using ''raspi-config''
Expand Filesystem (if not OK already)
Set keyboard layout
  Enable Camera
  Enable Camera
  Set hostname
  Set hostname (one word, no space)
  Enable SSH
  Enable SSH
Enable i2c - load module as default
  Disable Serial login
  Disable Serial login
  boot as a console with login
  boot as a console with login
  Update firmware
  Update firmware
  Set locale to "en_DK.UTF-8 UTF-8" (danish keyboard, but english language)
  Set locale to "en_DK.UTF-8 UTF-8" (danish keyboard, but English language)
 
==== Beagle bone ====
 
login as root (no password)
 
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


=== Update operating system ===
=== Update operating system ===
Line 65: Line 115:
  sudo apt-get dist-upgrade
  sudo apt-get dist-upgrade
  sudo reboot
  sudo reboot
=== Login ===
login as ''pi'', password ''raspberry'' - password may have changed
or on beaglebone as root (no password)
add a user called ''local''
sudo adduser local
sudo usermod -a --groups adm,cdrom,sudo,audio,video,plugdev,games,users,netdev,input,spi,gpio,i2c,dialout local
switch user to ''local'', and ensure groups are OK, and network is running
su - local
groups
ifconfig
Note the inet address.
Now it is possible to login (as ''local'') from network.
=== Get access using hostname ===
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.
Now from another PC on the local network
ping hostname.local
where "hostname" is replaced with the hostname in /etc/hostname.
=== Get filesystem on normal Linux 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
=== Opencv 3 ===
Right now Opencv version 3 (3.4 for the time being (jan 2019)) is not installed using apt install opencv-dev,
so it must be installed manually, for a new installation use
sudo apt -y install cmake
sudo apt -y install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev
sudo apt -y install libxvidcore-dev libx264-dev
sudo apt -y install libgtk2.0-dev
sudo apt -y install libatlas-base-dev gfortran
# python installed by default
#sudo apt -y install python2.7-dev python3-dev
sudo apt -y install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
# video for linux
cd /usr/include/linux
sudo ln -s -f ../libv4l1-videodev.h videodev.h
# make a directory for the opencv source
cd
mkdir -p git
cd git
# get source
wget -O opencv.zip https://github.com/Itseez/opencv/archive/3.4.zip
unzip opencv.zip
wget -O opencv_contrib.zip https://github.com/Itseez/opencv_contrib/archive/3.4.zip
unzip opencv_contrib.zip
# you will need this - if you use python - takes some minutes
pip install numpy
# prepare compilation
cd ~/git/opencv-3.4/
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_INSTALL_PREFIX=/usr/local \
    -D INSTALL_PYTHON_EXAMPLES=ON \
    -D OPENCV_EXTRA_MODULES_PATH=~/git/opencv_contrib-3.4/modules \
    -D BUILD_EXAMPLES=ON ..
# inspect printout to see if needed features are enabled
# use -j2 option not to overload or overheat the processor (j2 means use 2 cores only)
# this probably takes an hour or so
make -j2
# install into /usr/local
sudo make install
# load environment settings
sudo ldconfig
=== Packages needed ===
# install other stuff - needed by most of our robot applications
sudo apt -y install subversion
sudo apt -y install libreadline-dev
=== Packages needed for Mobotware RHD/MRC ===
Package list for RHD and MRC (paste the last line to a terminal window):
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 - opencv removed as newer version installed above (paste the last line to a terminal window)
cmake
# libopencv-dev
libreadline-dev
libudev-dev
libusb-dev
# libv4l-dev
python-dev
libgstreamer0.10-dev
libboost-dev
libboost-system-dev
python-opencv          (not needed, but nice)
sudo apt-get install cmake libreadline-dev libudev-dev libusb-dev libgstreamer0.10-dev libboost-dev libboost-system-dev python-opencv
==== Python ====
Further python image processing install
sudo pip install Image
==== 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.
=== 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
==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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