Install on raspberry: Difference between revisions

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  sudo ldconfig
  sudo ldconfig


=== Packages needed for Mobotware RHD/MRC ===
== Mobotware ==


Package list for RHD and MRC (paste the last line to a terminal window):
[[Mobotware on raspberry]]
 
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
 
=== 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

Revision as of 10:41, 23 December 2020

Short note on installation of (parts of) mobotware on Raspberry Pi (or Beagle-bone)


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)

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

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 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,

Configure

Raspberry

use raspi-config, start a terminal: 

sudo raspi-config

Using raspi-config 

Expand Filesystem (if not OK already)
Set keyboard layout
Enable Camera
Set hostname
Enable SSH
Enable i2c - load module as default
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

Login

login as pi, password raspberry - password may have changed

Add a user called local, this leaves the pi user as is. This can save reformatting and reinstall when the Pi is to be reused.

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

Packages needed

sudo apt install cmake
sudo apt install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev libgtk2.0-dev 
sudo apt install libatlas-base-dev gfortran alsa-tools jackd1
sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev subversion libreadline-dev htpdate aptitude
# video for linux had some error, maybe this will help
cd /usr/include/linux
sudo ln -s -f ../libv4l1-videodev.h videodev.h
# opencv
# sudo apt install libopencv-dev (sorry, installs opencv 2.4 (jan 2020), with no ArUco code support)

NB! Stop here if you install ROBOBOT

Opencv

As of June 2019 opencv 3.2 is installed using line above - NO, it is back to 2.4 on noops 3.2.1 (jan 2020/jca)

Newer version of Opencv could be installed manually if you really need functions not available in 3.2. For newer installation use 

# make a directory for the opencv source
cd
mkdir -p git
cd git
# get source
wget -O opencv-3.4.zip https://github.com/Itseez/opencv/archive/3.4.zip
unzip opencv-3.4.zip
wget -O opencv_contrib-3.4.zip https://github.com/Itseez/opencv_contrib/archive/3.4.zip
unzip opencv_contrib-3.4.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

Mobotware

Mobotware on raspberry

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