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This page is for ROBOBOT, an extension of REGBOT with a raspberry pi and three wheels.
This page is for ROBOBOT, an extension of REGBOT with a raspberry pi and three wheels.


[[File:robobot.JPG|400px]]
<!--[[File:onshape-view.png|400px]] -->
[[File:robobot_v5.png|400px]]
[[File:melina_b.jpg|250px]]
[[File:model-black.jpg | 450px]]


==Installation instruction on the raspberry==
Figure 1. Robobot, The robot is a 3D-printed box with wheels and some electronics.
The third, fourth and fifth generations are shown here.
The 3D printed parts can be found here https://cad.onshape.com/documents/fef8699fcafb8aea780c8981/w/ce38e7fdd6cf8533b65e2c3c/e/4792e876b254f8e35059f863


Install raspberry pi version of Linux on a micro-SD, instructions can be found here:
== Overview ==


[[Install on raspberry]] first section (prerequisites).
Note: Not valid (mostly) for the 2024 version of the robot


===Raspicam===
===hardware ===


A rather short raspberry pi camera API is available from https://www.uco.es/investiga/grupos/ava/node/40.
And can be downloaded from https://sourceforge.net/projects/raspicam/files/?


Unpack and install:
ROBOBOT is based on a navigation box with a line sensor (Edge sensor), an IR distance sensor and possibly some servos, all controlled by a microprocessor.
unzip raspicam-0.1.3.zip
For more intelligent behaviour and more sensors, there is a Raspberry Pi in the box too,
cd raspicam-0.1.3
 
mkdir build
The motors are JGB37-545 with an encoder and a 1:10 gearing (up to about 400RPM (or ~6 RPS (rotations per second) on the output axle).
cd build
 
cmake ..
There is a video introduction and demo here https://www.youtube.com/watch?v=6dNr_F0dsHw (from 2022 - slight changes since)
make
 
sudo make install
=== Navigation box overview===
 
 
[[File:robobot-overview.png | 500px]]
 
Figure 2. ROBOBOT is an extension of the robot REGBOT. The REGBOT part controls the wheels and interfaces to the sensors, like an IMU (6-axis accelerometer and gyro), IR distance sensors (2), and a line edge detector. The REGBOT further controls up to 5 servos and controls the battery supply. ROBOBOT is further equipped with a Raspberry Pi to allow more complicated missions. The Raspberry Pi runs an interface process called "Bridge" and is the main interface to the REGBOT. The mission process collects data from the bridge and the REGBOT and supplies small mission code snippets to be executed by the REGBOT part. The mission process may use the camera and the Open-CV library functions. The speaker allows debugging messages or other sound effects.
 
The ROBOBOT functions are available on the net at port number 24001. The existing user interface for REGBOT can access REGBOT functions from this port.
 
The gamepad can take control of the robot if the mission fails and can be used to initiate missions or other functions.
 
==Software description==
 
 
=== Bridge software ===
 
The Robobot bridge runs on the Raspberry Pi and is started when the Raspberry Pi starts, with initial commands from an initialization file (bridge.ini).
 
[[Robobot_bridge]] overview
 
A bridge autostart feature is implemented in the script 'start_bridge.sh' in the home directory of the user 'local'.
The is executed after a reboot.  
 
The script can be amended with other commands that should be started after a reboot.
 
=== Mission software ===
 
The mission application is the primary user control for the robot.


===Userland-master===
[[Robobot mission]] application overview.


To be able to install mobotware
The Mission application is started manually from an ssh console or added to the reboot script 'start_bridge.sh'.
<!--
===Python interface===


Follow the guide under REGBOT for userland-master install - [[Install on raspberry]]
A python-based control example - including especially camera streaming and interface.


===DNSMASQ===
[[Python interface]]
-->


To enable the robobot to be connected directly to a PC, then it is easier if the robobot provides an IP for the PC.
==Setup issues==


Install DNSMASQ
===Installation instructions===


sudo apt install dnsmasq
This installation should be done already, to update see next section.


allow dnsmasq to provide IP to pear-to-pear networks
[[Raspberry and ROS]] (not finished)
Edit the /etc/dnsmasq.conf (nano is a small text editor, fine for editing configuration files owned by Linux root)


sudo nano /etc/dnsmasq.conf
[[Network setup]] (Wifi)


find and change/add the following line (for eth0)
[[Robobot camera]] camera setup


dhcp-range=eth0,192.168.0.100,192.168.0.150,12h
[[Access from Windows]] and Linux to Raspberry files (and graphics)


To work, the eth0 must have an IP, if noone provides one,
[[Other windows tools]] - show Raspberry Pi graphics in Windows (usually very very slow)
change /etc/dhcpcd.conf (dhcp client deamon) to have a default IP, if no DHCP server is available


Add the following lines at the end of /etc/dhcpcd.conf to have a fall back behaviour for eth0 and eth1.
[[Regbot GUI]] python setup and GUI install


# define static profile
See [[Regbot calibration]] for sensor calibration.
profile static_eth0
static ip_address=192.168.0.2/24
static routers=192.168.0.1
static domain_name_servers=192.168.0.1
# fallback to static profile on eth0
interface eth0
fallback static_eth0
# define static profile
profile static_eth1
static ip_address=192.168.1.2/24
static routers=192.168.1.1
#static domain_name_servers=192.168.0.1
# fallback to static profile on eth1
interface eth1
fallback static_eth1


This will also give a default IP for an eventual second network (usb-to-cable) if needed
===Software update===


Now, after a reboot, you should be able to connect a PC directly with at network cable to a PC, and the PC should get an IP from the raspberry, so now
Update of the maintained software is on the SVN (subversion) repository.


ssh local@192.168.0.2
SSH to the robot and go to these directories and do an update


should work
cd
svn up svn/fejemis/ROS/catkin_ws/src/bridge
svn up svn/robobot
svn up svn/regbot


===ROBOBOT demo C++===
An update could look like this
$ svn up svn/fejemis/ROS/catkin_ws/src/bridge
Updating 'svn/fejemis/ROS/catkin_ws/src/bridge':
U    fejemis/ROS/catkin_ws/src/bridge/udataitem.h
U    fejemis/ROS/catkin_ws/src/bridge/ujoy.cpp
Updated to revision 228.


This is an examplesoftware in C++ to access both raspberry camera and REGBOT, and with an example mission controlled from the raspberry.
NB! this may cause a conflict if some of the files are changed locally.
Look at the filename and if it is not one of yours, then reply 'tc' (short for their conflict solution)


Get the robobot software from the svn repository:
=====Compile on bridge changes=====


svn checkout svn://repos.gbar.dtu.dk/jcan/regbot/robobot robobot
If there are updated files for the bridge, then


To be able to compile the demo software CMAKE needs also to use the user installed library (raspicam installed above),
cd
so add the following line to ~/.bashrc:
cd catkin_ws
catkin_make


export CMAKE_PREFIX_PATH=/usr/local/lib
=====Compile and upload on Teensy changes=====


Then build Makefiles and compile:
cd
cd svn/regbot/regbot/4.1
make -j3


cd robobot
This makes a file "regbot.hex" that is then to be loaded as the new firmware on the Teensy processor.
cd build
cmake ..
make


Then testrun the application:
There is a script that can do that from the command line:


  ./robobot
  ./upload.sh


It should print that the camera is open, save an image and print some data from the robot (e.g. position).
It will say something like


===USB as SOCKET for REGBOT client===
$ ./upload.sh
Teensy Loader, Command Line, Version 2.2
Read "regbot.hex": 314368 bytes, 3.9% usage
Waiting for Teensy device...
  (hint: press the reset button)


To use the REGBOT client through (not on) the raspberry pi, the serial connection /dev/ttyACM0 on the raspberry can be converted to a network port by SOCAT. So install:
Press and hold the "POWER ON" and then press the button on the Teensy board.


sudo apt install socat
The "POWER ON" button maintains power to the Raspberry Pi and the Teensy while uploading.


Add the following line to /etc/rc.local
It will likely fail the first time but keep pressing "POWER ON" and repeat the command, and it should now say


  socat TCP-LISTEN:24001,fork,reuseaddr FILE:/dev/ttyACM0,raw,echo=0
  $ ./upload.sh
Teensy Loader, Command Line, Version 2.2
Read "regbot.hex": 314368 bytes, 3.9% usage
Found HalfKay Bootloader
Programming.............................
Booting


This creates a TCP socket server, listening to port 24001 and piping /dev/ttyACM0 to the socket (with no local echo). This only takes the data from the /dev/ttyACM0 when a client is connected to the socket.
If you released the "POWER ON" in the process, the Raspberry Pi would power down. You then need to hold the "POWER ON" until the Raspberry has booted; you then re-login and rerun the script.


Works after a reboot, or the same line on the command prompt.
=====Make the upload.sh=====


This is good for configuring the REGBOT (in REGBOT client connect wifi to IP of robot, e.g. 192.168.0.2).
If you have the "upload.sh", this step is not needed.


===Share files from windows===
The command line upload is described here https://www.pjrc.com/teensy/loader_cli.html .


To share files on all windows computers (without need for administrator) configure a samba share
On a Raspberry you first need to install a USB library:
(or follow Simon on http://simonthepiman.com/how_to_setup_windows_file_server.php)
sudo apt install libusb-dev


First install samba
Then get the code:
cd ~/git
git clone https://github.com/PaulStoffregen/teensy_loader_cli.git
cd teensy_loader_cli
make


sudo apt install samba samba-common-bin
You should now have a "teensy_loader_cli" file; copy this to the svn/regbot/regbot/4.1 directory


then edit /etc/samba/smb.conf
cp teensy_loader_cli ~/svn/regbot/regbot/4.1/


sudo nano /etc/samba/smb.conf
Make the "upload.sh" script


comment out all lines under the headlines:
  cd ~/svn/regbot/regbot/4.1
[homes]
  nano upload.sh
[printers]
  [print$]
  [cdrom]


Add the following section at the end:
Insert the following into the script:


  [robobot]
  #!/bin/bash
comment = Raspberry Pi user LOCAL home directory
  ./teensy_loader_cli -v -w --mcu=TEENSY41 regbot.hex
path = /home/local
  writeable = Yes
only guest = Yes
create mask = 0777
directory mask = 0777
browseable = Yes
public = yes


Save with ctrl-s and exit with ctrl-x


Add "local" and "pi" as a samba user (and set password, for user pi it should be "raspberry"):
Make the script executable


  sudo smbpasswd -a local
  chmod +x upload.sh
sudo smbpasswd -a pi


Reboot to implement
== old instructions ==


sudo reboot
Partially valid only.


====Windows map drive====
[[Install on raspberry]] on a clean SD-card - raspi-config.


On the windows computer, connect a network cable directly between the robobot and the computer, e.g. using a USB to Ethernet converter. Robobot should now be available with network address 192.168.0.2 (you could try a ping if in doubt).
[[Setup user local]] adding a new user.


In the file browser:
[[Linux tools]] - packages to install.
* select "map network drive" (menu tools, or right-click on "my computer").
* select drive R: (for robobot) - or another if R is used already.
* in the folder field write: \\192.168.0.2\robobot, and select "Connect using different credentials", then OK.
* Type in username (local or pi) and the appropriate password (and OK).


Now the code and other files can be accessed and manipulated from windows, e.g. using an IDE.
[[Access from PC]] (Linux or Windows).


* But the code still needs to be compiled on the raspberry (install and use putty for a ssh terminal access)
[[Other windows tools]] - run graphics from Windows


===Share files on Linux===
[[Instructions for getting started]] - primarily network, Linux intro and wifi setup.


On the Linux PC use sshfs for sharing rather than samba.
<!-- [[Full installation instructions]] - like Linux itself, sound and camera and how to connect the Raspberry disk to Windows and Linux computers. -->
Make an empty directory for the mapped disk, and then mount


mkdir robobotdisk
==REGBOT setup ==
sshfs local@192.168.0.2: robobotdisk


Unmount with
Several parameters in the REGBOT part of the robot need setting.


fusermount -u robobotdisk
Some suggestions are provided here using the REGBOT GUI (available on the raspberry in the 'regbotgui' directory, and in a Windows version):


Or use "sudo unmount robobotdisk"
[[Regbot settings]]


==Getting started==
=== Hardware ===
This section contains a quick-start guide for the user.


It includes how to get the robot connected to Eduroam WiFi for easy access, an explanation of software and software structure and present a few examples to get the robots driving.
The Robobot frame is 3D printed, the design is in onshape - see this link https://cad.onshape.com/documents/fef8699fcafb8aea780c8981/w/ce38e7fdd6cf8533b65e2c3c/e/4792e876b254f8e35059f863 , in the list of parts to the left it is possible to export (right-click) as STL files, that you can slice for your 3D printer.


Press the link below to go to the instructions page.
=== Navigation box assembly ===


[[Instructions for getting started]]
There are video-instructions on the course page.

Latest revision as of 15:16, 28 February 2024

This page is for ROBOBOT, an extension of REGBOT with a raspberry pi and three wheels.

Figure 1. Robobot, The robot is a 3D-printed box with wheels and some electronics. The third, fourth and fifth generations are shown here. The 3D printed parts can be found here https://cad.onshape.com/documents/fef8699fcafb8aea780c8981/w/ce38e7fdd6cf8533b65e2c3c/e/4792e876b254f8e35059f863

Overview

Note: Not valid (mostly) for the 2024 version of the robot

hardware

ROBOBOT is based on a navigation box with a line sensor (Edge sensor), an IR distance sensor and possibly some servos, all controlled by a microprocessor. For more intelligent behaviour and more sensors, there is a Raspberry Pi in the box too,

The motors are JGB37-545 with an encoder and a 1:10 gearing (up to about 400RPM (or ~6 RPS (rotations per second) on the output axle).

There is a video introduction and demo here https://www.youtube.com/watch?v=6dNr_F0dsHw (from 2022 - slight changes since)

Navigation box overview

Figure 2. ROBOBOT is an extension of the robot REGBOT. The REGBOT part controls the wheels and interfaces to the sensors, like an IMU (6-axis accelerometer and gyro), IR distance sensors (2), and a line edge detector. The REGBOT further controls up to 5 servos and controls the battery supply. ROBOBOT is further equipped with a Raspberry Pi to allow more complicated missions. The Raspberry Pi runs an interface process called "Bridge" and is the main interface to the REGBOT. The mission process collects data from the bridge and the REGBOT and supplies small mission code snippets to be executed by the REGBOT part. The mission process may use the camera and the Open-CV library functions. The speaker allows debugging messages or other sound effects.

The ROBOBOT functions are available on the net at port number 24001. The existing user interface for REGBOT can access REGBOT functions from this port.

The gamepad can take control of the robot if the mission fails and can be used to initiate missions or other functions.

Software description

Bridge software

The Robobot bridge runs on the Raspberry Pi and is started when the Raspberry Pi starts, with initial commands from an initialization file (bridge.ini).

Robobot_bridge overview

A bridge autostart feature is implemented in the script 'start_bridge.sh' in the home directory of the user 'local'. The is executed after a reboot.

The script can be amended with other commands that should be started after a reboot.

Mission software

The mission application is the primary user control for the robot.

Robobot mission application overview.

The Mission application is started manually from an ssh console or added to the reboot script 'start_bridge.sh'.

Setup issues

Installation instructions

This installation should be done already, to update see next section.

Raspberry and ROS (not finished)

Network setup (Wifi)

Robobot camera camera setup

Access from Windows and Linux to Raspberry files (and graphics)

Other windows tools - show Raspberry Pi graphics in Windows (usually very very slow)

Regbot GUI python setup and GUI install

See Regbot calibration for sensor calibration.

Software update

Update of the maintained software is on the SVN (subversion) repository.

SSH to the robot and go to these directories and do an update 

cd
svn up svn/fejemis/ROS/catkin_ws/src/bridge
svn up svn/robobot
svn up svn/regbot

An update could look like this 

$ svn up svn/fejemis/ROS/catkin_ws/src/bridge
Updating 'svn/fejemis/ROS/catkin_ws/src/bridge':
U    fejemis/ROS/catkin_ws/src/bridge/udataitem.h
U    fejemis/ROS/catkin_ws/src/bridge/ujoy.cpp
Updated to revision 228.

NB! this may cause a conflict if some of the files are changed locally. Look at the filename and if it is not one of yours, then reply 'tc' (short for their conflict solution)

Compile on bridge changes

If there are updated files for the bridge, then 

cd
cd catkin_ws
catkin_make
Compile and upload on Teensy changes
cd
cd svn/regbot/regbot/4.1
make -j3

This makes a file "regbot.hex" that is then to be loaded as the new firmware on the Teensy processor.

There is a script that can do that from the command line: 

./upload.sh

It will say something like 

$ ./upload.sh
Teensy Loader, Command Line, Version 2.2
Read "regbot.hex": 314368 bytes, 3.9% usage
Waiting for Teensy device...
 (hint: press the reset button)

Press and hold the "POWER ON" and then press the button on the Teensy board.

The "POWER ON" button maintains power to the Raspberry Pi and the Teensy while uploading.

It will likely fail the first time but keep pressing "POWER ON" and repeat the command, and it should now say 

$ ./upload.sh
Teensy Loader, Command Line, Version 2.2
Read "regbot.hex": 314368 bytes, 3.9% usage
Found HalfKay Bootloader
Programming.............................
Booting

If you released the "POWER ON" in the process, the Raspberry Pi would power down. You then need to hold the "POWER ON" until the Raspberry has booted; you then re-login and rerun the script.

Make the upload.sh

If you have the "upload.sh", this step is not needed.

The command line upload is described here https://www.pjrc.com/teensy/loader_cli.html .

On a Raspberry you first need to install a USB library: 

sudo apt install libusb-dev

Then get the code: 

cd ~/git
git clone https://github.com/PaulStoffregen/teensy_loader_cli.git
cd teensy_loader_cli
make

You should now have a "teensy_loader_cli" file; copy this to the svn/regbot/regbot/4.1 directory 

cp teensy_loader_cli ~/svn/regbot/regbot/4.1/

Make the "upload.sh" script 

cd ~/svn/regbot/regbot/4.1
nano upload.sh

Insert the following into the script: 

#!/bin/bash
./teensy_loader_cli -v -w --mcu=TEENSY41 regbot.hex

Save with ctrl-s and exit with ctrl-x

Make the script executable 

chmod +x upload.sh

old instructions

Partially valid only.

Install on raspberry on a clean SD-card - raspi-config.

Setup user local adding a new user.

Linux tools - packages to install.

Access from PC (Linux or Windows).

Other windows tools - run graphics from Windows

Instructions for getting started - primarily network, Linux intro and wifi setup.


REGBOT setup

Several parameters in the REGBOT part of the robot need setting.

Some suggestions are provided here using the REGBOT GUI (available on the raspberry in the 'regbotgui' directory, and in a Windows version):

Regbot settings

Hardware

The Robobot frame is 3D printed, the design is in onshape - see this link https://cad.onshape.com/documents/fef8699fcafb8aea780c8981/w/ce38e7fdd6cf8533b65e2c3c/e/4792e876b254f8e35059f863 , in the list of parts to the left it is possible to export (right-click) as STL files, that you can slice for your 3D printer.

Navigation box assembly

There are video-instructions on the course page.

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