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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.


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


[[Getting started]]
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 ==


==Installation instruction on the raspberry==
Note: Not valid (mostly) for the 2024 version of the robot


===hardware ===


===Raspicam===


A rather short raspberry pi camera API is available from https://www.uco.es/investiga/grupos/ava/node/40.
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.
And can be downloaded from https://sourceforge.net/projects/raspicam/files/?
For more intelligent behaviour and more sensors, there is a Raspberry Pi in the box too,


Unpack and install:
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).
unzip raspicam-0.1.3.zip
 
cd raspicam-0.1.3
There is a video introduction and demo here https://www.youtube.com/watch?v=6dNr_F0dsHw (from 2022 - slight changes since)
mkdir build
 
cd build
=== Navigation box overview===
cmake ..
 
make
 
sudo make install
[[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.
 
[[Robobot mission]] application overview.
 
The Mission application is started manually from an ssh console or added to the reboot script 'start_bridge.sh'.
<!--
===Python interface===


===Userland-master===
A python-based control example - including especially camera streaming and interface.


To be able to install mobotware
[[Python interface]]
-->


Follow the guide under REGBOT for userland-master install - [[Install on raspberry]]
==Setup issues==


===DNSMASQ===
===Installation instructions===


To enable the robobot to be connected directly to a PC, then it is easier if the robobot provides an IP for the PC.
This installation should be done already, to update see next section.


Install DNSMASQ
[[Raspberry and ROS]] (not finished)


sudo apt install dnsmasq
[[Network setup]] (Wifi)


allow dnsmasq to provide IP to pear-to-pear networks
[[Robobot camera]] camera setup
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
[[Access from Windows]] and Linux to Raspberry files (and graphics)


find and change/add the following line (for eth0)
[[Other windows tools]] - show Raspberry Pi graphics in Windows (usually very very slow)


dhcp-range=eth0,192.168.0.100,192.168.0.150,12h
[[Regbot GUI]] python setup and GUI install


To work, the eth0 must have an IP, if noone provides one,
See [[Regbot calibration]] for sensor calibration.
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.
===Software update===


# define static profile
Update of the maintained software is on the SVN (subversion) repository.
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
SSH to the robot and go to these directories and do an 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
cd
svn up svn/fejemis/ROS/catkin_ws/src/bridge
svn up svn/robobot
svn up svn/regbot


  ssh local@192.168.0.2
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.


should work
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)


===Mobotware===
=====Compile on bridge changes=====


Requires a number of packages - see [[Install on raspberry]]
If there are updated files for the bridge, then


===ROBOBOT demo C++===
cd
cd catkin_ws
catkin_make


This is an examplesoftware in C++ to access both raspberry camera and REGBOT, and with an example mission controlled from the raspberry.
=====Compile and upload on Teensy changes=====


Get the robobot software from the svn repository:
cd
cd svn/regbot/regbot/4.1
make -j3


svn checkout svn://repos.gbar.dtu.dk/jcan/regbot/robobot robobot
This makes a file "regbot.hex" that is then to be loaded as the new firmware on the Teensy processor.


To be able to compile the demo software CMAKE needs also to use the user installed library (raspicam installed above),
There is a script that can do that from the command line:
so add the following line to ~/.bashrc:


  export CMAKE_PREFIX_PATH=/usr/local/lib
  ./upload.sh


Then build Makefiles and compile:
It will say something like


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


Then testrun the application:
Press and hold the "POWER ON" and then press the button on the Teensy board.


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


It should print that the camera is open, save an image and print some data from the robot (e.g. position).
It will likely fail the first time but keep pressing "POWER ON" and repeat the command, and it should now say


===USB as SOCKET for REGBOT client===
$ ./upload.sh
Teensy Loader, Command Line, Version 2.2
Read "regbot.hex": 314368 bytes, 3.9% usage
Found HalfKay Bootloader
Programming.............................
Booting


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:
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.


sudo apt install socat
=====Make the upload.sh=====


Add the following line to /etc/rc.local
If you have the "upload.sh", this step is not needed.


socat TCP-LISTEN:24001,fork,reuseaddr FILE:/dev/ttyACM0,raw,echo=0
The command line upload is described here https://www.pjrc.com/teensy/loader_cli.html .


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.
On a Raspberry you first need to install a USB library:
sudo apt install libusb-dev


Works after a reboot, or the same line on the command prompt.
Then get the code:
cd ~/git
git clone https://github.com/PaulStoffregen/teensy_loader_cli.git
cd teensy_loader_cli
make


This is good for configuring the REGBOT (in REGBOT client connect wifi to IP of robot, e.g. 192.168.0.2).
You should now have a "teensy_loader_cli" file; copy this to the svn/regbot/regbot/4.1 directory


===Share files from windows===
cp teensy_loader_cli ~/svn/regbot/regbot/4.1/


To share files on all windows computers (without need for administrator) configure a samba share
Make the "upload.sh" script
(or follow Simon on http://simonthepiman.com/how_to_setup_windows_file_server.php)


First install samba
cd ~/svn/regbot/regbot/4.1
nano upload.sh


sudo apt install samba samba-common-bin
Insert the following into the script:


then edit /etc/samba/smb.conf
#!/bin/bash
./teensy_loader_cli -v -w --mcu=TEENSY41 regbot.hex


sudo nano /etc/samba/smb.conf
Save with ctrl-s and exit with ctrl-x


comment out all lines under the headlines:
Make the script executable
[homes]
[printers]
[print$]
[cdrom]


Add the following section at the end:
chmod +x upload.sh


[robobot]
== old instructions ==
comment = Raspberry Pi user LOCAL home directory
path = /home/local
writeable = Yes
only guest = Yes
create mask = 0777
directory mask = 0777
browseable = Yes
public = yes


Partially valid only.


Add "local" and "pi" as a samba user (and set password, for user pi it should be "raspberry"):
[[Install on raspberry]] on a clean SD-card - raspi-config.


sudo smbpasswd -a local
[[Setup user local]] adding a new user.
sudo smbpasswd -a pi


Reboot to implement
[[Linux tools]] - packages to install.


sudo reboot
[[Access from PC]] (Linux or Windows).


====Windows map drive====
[[Other windows tools]] - run graphics from Windows


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


In the file browser:
<!-- [[Full installation instructions]] - like Linux itself, sound and camera and how to connect the Raspberry disk to Windows and Linux computers. -->
* 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.
==REGBOT setup ==


* But the code still needs to be compiled on the raspberry (install and use putty for a ssh terminal access)
Several parameters in the REGBOT part of the robot need setting.


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


On the Linux PC use sshfs for sharing rather than samba.
[[Regbot settings]]
Make an empty directory for the mapped disk, and then mount


mkdir robobotdisk
=== Hardware ===
sshfs local@192.168.0.2: robobotdisk


Unmount with
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.


fusermount -u robobotdisk
=== Navigation box assembly ===


Or use "sudo unmount robobotdisk"
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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