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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


== Overview ==


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


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


Unpack and install:
unzip raspicam-0.1.3.zip
cd raspicam-0.1.3
mkdir build
cd build
cmake ..
make
sudo make install


===Userland-master===
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===
 
 
[[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.


To be able to install mobotware
=== Mission software ===


Follow the guide under REGBOT for userland-master install - [[Install on raspberry]]
The mission application is the primary user control for the robot.


===DNSMASQ===
[[Robobot mission]] application overview.


To enable the robobot to be connected directly to a PC, then it is easier if the robobot provides an IP for the PC.
The Mission application is started manually from an ssh console or added to the reboot script 'start_bridge.sh'.
<!--
===Python interface===


Install DNSMASQ
A python-based control example - including especially camera streaming and interface.


sudo apt install dnsmasq
[[Python interface]]
-->


allow dnsmasq to provide IP to pear-to-pear networks
==Setup issues==
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
===Installation instructions===


find and change/add the following line (for eth0)
This installation should be done already, to update see next section.


dhcp-range=eth0,192.168.0.100,192.168.0.150,12h
[[Raspberry and ROS]] (not finished)


To work, the eth0 must have an IP, if noone provides one,
[[Network setup]] (Wifi)
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.
[[Robobot camera]] camera setup


# define static profile
[[Access from Windows]] and Linux to Raspberry files (and graphics)
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
[[Other windows tools]] - show Raspberry Pi graphics in Windows (usually very very slow)


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
[[Regbot GUI]] python setup and GUI install


ssh local@192.168.0.2
See [[Regbot calibration]] for sensor calibration.


should work
===Software update===


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


Requires a number of packages - see [[Install on raspberry]]
SSH to the robot and go to these directories and do an update


===ROBOBOT demo C++===
cd
svn up svn/fejemis/ROS/catkin_ws/src/bridge
svn up svn/robobot
svn up svn/regbot


This is an examplesoftware in C++ to access both raspberry camera and REGBOT, and with an example mission controlled from the raspberry.
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.


Get the robobot software from the svn repository:
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)


svn checkout svn://repos.gbar.dtu.dk/jcan/regbot/robobot robobot
=====Compile on bridge changes=====


To be able to compile the demo software CMAKE needs also to use the user installed library (raspicam installed above),  
If there are updated files for the bridge, then
so add the following line to ~/.bashrc:


  export CMAKE_PREFIX_PATH=/usr/local/lib
  cd
cd catkin_ws
catkin_make


Then build Makefiles and compile:
=====Compile and upload on Teensy changes=====


  cd robobot
  cd
  cd build
  cd svn/regbot/regbot/4.1
cmake ..
  make -j3
  make


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


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


It should print that the camera is open, save an image and print some data from the robot (e.g. position).
./upload.sh


===USB as SOCKET for REGBOT client===
It will say something like


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:
$ ./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)


sudo apt install socat
Press and hold the "POWER ON" and then press the button on the Teensy board.


Add the following line to /etc/rc.local
The "POWER ON" button maintains power to the Raspberry Pi and the Teensy while uploading.


socat TCP-LISTEN:24001,fork,reuseaddr FILE:/dev/ttyACM0,raw,echo=0
It will likely fail the first time but keep pressing "POWER ON" and repeat the command, and it should now say


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


Works after a reboot, or the same line on the command prompt.
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.


This is good for configuring the REGBOT (in REGBOT client connect wifi to IP of robot, e.g. 192.168.0.2).
=====Make the upload.sh=====


===Share files from windows===
If you have the "upload.sh", this step is not needed.


To share files on all windows computers (without need for administrator) configure a samba share
The command line upload is described here https://www.pjrc.com/teensy/loader_cli.html .
(or follow Simon on http://simonthepiman.com/how_to_setup_windows_file_server.php)


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


  sudo apt install samba samba-common-bin
Then get the code:
   
cd ~/git
git clone https://github.com/PaulStoffregen/teensy_loader_cli.git
cd teensy_loader_cli
make


then edit /etc/samba/smb.conf
You should now have a "teensy_loader_cli" file; copy this to the svn/regbot/regbot/4.1 directory


  sudo nano /etc/samba/smb.conf
  cp teensy_loader_cli ~/svn/regbot/regbot/4.1/


comment out all lines under the headlines:
Make the "upload.sh" script
[homes]
[printers]
[print$]
[cdrom]


Add the following section at the end:
cd ~/svn/regbot/regbot/4.1
nano upload.sh


[robobot]
Insert the following into the script:
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


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


Add "local" and "pi" as a samba user (and set password, for user pi it should be "raspberry"):
Save with ctrl-s and exit with ctrl-x


sudo smbpasswd -a local
Make the script executable
sudo smbpasswd -a pi


Reboot to implement
chmod +x upload.sh


sudo reboot
== old instructions ==


====Windows map drive====
Partially valid only.


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).
[[Install on raspberry]] on a clean SD-card - raspi-config.


In the file browser:
[[Setup user local]] adding a new user.
* 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.
[[Linux tools]] - packages to install.


* But the code still needs to be compiled on the raspberry (install and use putty for a ssh terminal access)
[[Access from PC]] (Linux or Windows).


===Share files on Linux===
[[Other windows tools]] - run graphics from Windows


On the Linux PC use sshfs for sharing rather than samba.
[[Instructions for getting started]] - primarily network, Linux intro and wifi setup.
Make an empty directory for the mapped disk, and then mount


mkdir robobotdisk
<!-- [[Full installation instructions]] - like Linux itself, sound and camera and how to connect the Raspberry disk to Windows and Linux computers. -->
sshfs local@192.168.0.2: robobotdisk


Unmount with
==REGBOT setup ==


fusermount -u robobotdisk
Several parameters in the REGBOT part of the robot need setting.


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


[[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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