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| This page is is for development nodes and user description of the simplified version of Robobot
| | Robobot B is a simplified (2024) version of the old Robobot |
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| =Robobot B description= | | =Robobot= |
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| This section is intended for users.
| | [[File:robobot-in-blocks-2024.png | 600px]] |
| | [[File:robobot-design-2024.png | 400px]] |
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| ==Overview== | | ==Overview== |
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| [[Robobot architecture]]
| | This section is intended for users. |
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| == Hardware==
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| Plastic
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| ==Electronics==
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| PCB
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| ==Software on Raspberry==
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| ===Software repository===
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| ===Directory structure===
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| On the Raspberry the main directory and files are:
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| /home/local/
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| +-git - Directory for libratyes available from a GIT repository (mostly Teensy/arduino libraries).
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| | +-CLI11 - Directory with command line interface library CLI (from github)
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| +-svn - Directory for software from the subversion repository (Robobot specific software).
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| | +-regbot - Directory for the Teesny software (firmware) this part is called Regbot.
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| | | +-regbot_gui Debug app for Regbot.
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| | | +-regbot The firmware source code.
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| | +-robobot - Directory for the Robobot specific code.
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| | | +-setup Directory with some default configuration files.
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| | | +-raubase The basic Raspberry Pi software for Robobot.
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| | | | +-src Source code
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| | | | +-build Build directory with Makefile
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| | | | | +-log Directory for data-monitoring logfiles
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| | | | CMakeList.txt Directives to generate a Makefile using cmake
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| | | | robot.ini Configuration and calibration file
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| | | +- ip_disp Small app to update the IP address of the Raspberry.
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| | | log_ip_dist.txt Logfile for IP and temperature monotoring
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| | +-log - Directory with logfiles from ip_disp (IP, users and CPU temperature)
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| on_reboot.bash - Script to start applications that should start after a reboot (ip_disp)
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| ===Robot software===
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| ==Firmware on Teensy==
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| ===Description===
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| ===Compile tools===
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| ===Upload to Teensy===
| | * [[Robobot architecture | Software overview]] and blocks description. |
| | * [[Robobot software description | Software description]] and examples. |
| | * [[Raspberry Pi directory structure for Robobot]] |
| | * [[Robobot and MATLAB]] use of logfiles. |
| | * [[Robobot hardware]] items. |
| | * [[Robobot circuits]] |
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| =Development notes= | | ==Development notes== |
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| This section is for development notes. | | This section is for development notes. |
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| ==Software installation Raspberry Pi==
| | * [[Robobot install on Raspberry]] |
| | | * DTU network and time setup: [[Network setup]] |
| | | * [[Enable autostart]] and IP display |
| ===Install on Raspberry===
| | * [[Robobot base software installation]] |
| | | * Setup of [[Robobot webcam server]] |
| Barebone installation (Raspbian GNU/Linux 11 (bullseye) as of July 2023)
| | * Old [[robobot]], instructions are mostly depricated |
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| [[Raspberry base install]] | |
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| * make a bootable SD card
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| * Make a new user called local and set the group permissions | |
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| sudo adduser local gpio
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| * Install general-purpose development packages
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| ===Additional packages===
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| Install the following packages:
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| libreadline-dev
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| libopencv-dev
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| libgpiod-dev
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| gpiod
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| cmake
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| subversion
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| aptitude
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| telnet
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| ntp
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| ntpdate
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| nmap
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| lsof
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| sudo apt install libreadline-dev libopencv-dev libgpiod-dev gpiod cmake subversion aptitude telnet nmap lsof
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| and, if available
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| sudo apt install libcli11-dev
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| Install command line interface library (if not found by 'apt install libcli11-dev')
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| cd
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| cd git
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| git clone https://github.com/CLIUtils/CLI11.git
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| ===User and network (WiFi)===
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| Connect to DTU Wifi
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| * use NTP (network time protocol) with DTU network (require ntp and ntpdate packages)
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| * connect to DTU network without showing secret password
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| Instructions here [[Network setup]]
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| ===Enable autostart===
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| ====Display of IP====
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| Start app to display IP on Regbot display, log CPU temperature and synchronize hostname
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| Make an on-rebbot script in the home directory
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| cp ~/svn/robobot/setup/on_reboot.bash ~/
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| This file is something like:
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| #!/bin/bash
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| # script to start applications after a reboot
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| #
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| # run the app to show IP of raspberry on the Teensy display.
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| mkdir -p /home/local/svn/log
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| cd /home/local/svn/log
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| # save the last reboot date
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| echo "Rebooted" >> rebootinfo.txt
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| date >> rebootinfo.txt
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| ../robobot/ip_disp/build/ip_disp &
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| # save PID for debugging
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| echo "ip_disp started with PID:" >> rebootinfo.txt
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| pgrep -l ip_disp >> rebootinfo.txt
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| exit 0
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| Use crontab to run this script at reboot
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| crontab -e
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| If asked, select the preferred editor (suggesting nano).
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| Add this line at the end:
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| @reboot /home/local/on_reboot.bash
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| ====Hostname update====
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| A script updates the Raspberry Pi hostname, with the name in ''~/svn/log/robotname''.
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| The script ''rename_host.bash'' is:
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| #!/bin/bash
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| hn=`hostname`
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| f="/home/local/svn/log/robotname"
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| if [ -f $f ];
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| then
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| nn=`cat $f`
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| yy= $(expr length $nn)
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| if [ $yy -gt 2 ];
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| then
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| if [ $hn != $nn ];
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| then
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| hostnamectl set-hostname $nn
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| # seems like /etc/hosts is not updated, but /etc/hostname is
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| sed -i "s/$hn/$nn/g" /etc/hosts
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| else
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| echo Same hostname, all is fine.
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| fi
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| fi
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| else
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| echo "File >" $f "< not found."
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| fi
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| The script needs to be run as root, it is therefore set to run as part of the boot process.
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| Create the script in /etc/init.d
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| sudo nano /etc/init.d/host_rename.sh
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| Enter the following lines into the new file
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| #!/bin/bash
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| bash /home/local/svn/robobot/setup/rename_host.bash
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| Make the file executable and add it to run-level 2 (before networking is started)
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| sudo chmod +x /etc/init.d/host_rename.sh
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| sudo ln -s /etc/init.d/host_rename.sh /etc/rc2.d/S99host_rename
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| The script is then executed when the Raspberry boots, and if the hostname does not match that of the Teensy, then the hostname is modified.
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| ===Robobot base software===
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| To make the initial copy from the repository
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| cd
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| cd svn
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| svn checkout svn://repos.gbar.dtu.dk/jcan/robobot
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| To update with a new version
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| cd
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| cd svn/robobot
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| svn update
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| ==Teensy==
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| Software tool chain installation
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| ==Old Robobot pages==
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| [[robobot]] an extension to Regbot with a raspberry pi for more extended missions, but uses mission code in Teensy, like Regbot. | |
