Full installation instructions: Difference between revisions

From Rsewiki
Line 144: Line 144:


Connect to network localhost or kill the bridge and connect directly to "/dev/ttyACM0" (not com5 as is the default serial connection).
Connect to network localhost or kill the bridge and connect directly to "/dev/ttyACM0" (not com5 as is the default serial connection).
=== ROBOBOT bridge ===
This software connects and combines access to REGBOT, gamepad and the small o-led display.
Get the software - if not there already.
svn checkout svn://repos.gbar.dtu.dk/jcan/regbot/robobot_bridge robobot_bridge
To update - if there is a newer version
cd ~/robobot_bridge
svn up
Go to the build directory to build. "make" and "sudo make install" will maybe do.
cd ~/robobot_bridge
mkdir -p build
cd build
cmake ..
make
sudo make install
To make the bridge start at reboot, then add
sudo nano /etc/rc.local
add the line just before "exit 0", or everything if empty (make rc.local executable - probably is)
#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# In order to enable or disable this script just change the execution
# bits.
#
# By default this script does nothing.
# Print the IP address
_IP=$(hostname -I) || true
if [ "$_IP" ]; then
  printf "My IP address is %s\n" "$_IP"
fi
# this line is needed if on DTU internal network do get decent date and time
# as this channel otherwise is blocked
htpdate -q www.linux.org www.freebsd.org
# start bridge
cd /home/local/robobot_bridge/build && ./robobot_bridge -a &
exit 0
The bridge may be running already, to test use pgrep
pgrep bridge
If a process number is shown, then it is running.
To stop the bridge (if not needed or changed)
sudo pkill bridge
You may then run the bridge from the console
cd ~/robobot_bridge/build
sudo ./robobot_bridge
It will then show status on the console.
To list the message database, then press 's' and return. For full functionality see help (h) and "help".
bridge >> s
Regbot bridge: regbot OK=1, Joy OK=1, Oled OK=1, socket=1 (port 24001 on thit), clients=0
#recorded 7 items:
  item 0 is  servo, upds=  0, dt=0.000s, valid=0, time=1.023s ''
                            Servo control for robot 'servo n p' n:servo, p:position.
  item 1 is    pse, upds=5077, dt=0.026s, valid=1, time=135.344s '0.00160638 -1.66499e-05 -0.020729 0.0016065 1.8485'
                            Robot pose [x [m], y [m], h [rad], tilt [rad]].
  item 2 is    hbt, upds=213, dt=0.626s, valid=1, time=135.231s '3142.04 11.8582 0 0 0 289'
                            Heartbeat [time [sec], battery voltage [V].
  item 3 is    joy, upds=  6, dt=0.000s, valid=1, time=1.101s '1 0 8 11 0 0 -32767 0 0 -32767 0 0 0 0 0 0 0 0 0 0 0 0 0'
                            0 Joystick position, running, manual override, Axis count, Button count, A1, A2 ... An, B1, B2 ... Bn
  item 4 is    rc=, upds=  0, dt=0.000s, valid=0, time=1.025s ''
                            Remote control for robot 'rc=m v t'  m:manual override, v:velocity, t:turn velocity.
  item 5 is      #, upds=  0, dt=0.000s, valid=0, time=2.026s ''
                          (no description)
  item 6 is <alive, upds=133, dt=1.002s, valid=1, time=135.192s 'last="0.00028"/>'
                          (no description)
UServerPort::printStatus: running=1, clientsCnt=0, activeCnt=0, loops=0
bridge >> h
Bridge between a Regbot robot and joystick and socket clients
Runs on Linux PC and raspberry (preferably in rc.local - runs here an oled display too if available).
After start console has a cmd. line with following commands:
    q: quit
    s: status of data items etc
    h: this help
    help: help for the bridge
Longer lines are send to handler as message.
bridge >> help
UBridge::responder: key=help get responder=3
# Robobot_bridge help:
# Commands are all single line text staring with a keyword
#    (up to 6 characters) followed by text or numbers:
# Main topics:
#    robot      Sends all rest of the line to the robot, see 'robot help' for options
#    bridge      See 'bridge help' for options
#    oled L xxx  Prints xxx (up to 20 chars) on line L (2..7) on oled
#    client      See 'client help' for options
#    q          quit
#    h          Console help
#    help        This help
# All lines starting with '#' are assumed to be comments
# All commands are stored as a data item with keyword as ID
# All data items has reserved subcommands, see:
#    item h      Help for data item 'item'
bridge >>


== File sharing for development ==
== File sharing for development ==

Revision as of 09:58, 4 January 2020

Back to Robobot


Installation instruction on the raspberry

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

Install on raspberry first section (prerequisites).

Raspicam

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/,

or get the file from sourceforge with no GUI, with: 

wget --no-check-certificate -O raspicam-0.1.6.zip https://downloads.sourceforge.net/project/raspicam/raspicam-0.1.6.zip?r=https%3A%2F%2Fsourceforge.net%2Fprojects%2Fraspicam%2F%3Fsource%3Dtyp_redirect&ts=1486483484&use_mirror=netix

or part of mission files on SVN (version 0.1.6)

Once fetched and available on the raspberry, then

Unpack and install: 

unzip raspicam-0.1.6.zip
cd raspicam-0.1.6
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig

The library is installed in /usr/local, and therefore to make cmake find it the path needs to be added to startup configuration, in file ~/.bashrc 

nano ~/.bashrc
add at the end:
export CMAKE_PREFIX_PATH=/usr/local/lib

(needs a re-logon to be activated, or repeat on the command line)

Userland-master

-- Maybe already installed, or not needed.

To be able to install mobotware (not used pt on ROBOBOT)

Follow the guide under REGBOT for userland-master install - Install on raspberry

DNSMASQ

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

Install DNSMASQ 

sudo apt install dnsmasq

allow dnsmasq to provide IP to pear-to-pear networks 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
find and change/add the following line (a bit down, eg to serch use: ctrl-W dhcp-range)
dhcp-range=192.168.17.100,192.168.17.150,12h

To work, the eth0 must have an IP, if noone provides one, change /etc/dhcpcd.conf (dhcp client deamon) to have a default IP, if no DHCP server is available

Edit of /etc/dhcpcd.conf to have a fall back behaviour for eth0 and eth1. 

sudo nano /etc/dhcpcd.conf
Add the following lines at the end (uncomment and modify):
# define static profile
profile static_eth0
static ip_address=192.168.17.1/24
# 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

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

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 

ssh local@192.168.17.1

Sound

To use the sound system install 

sudo apt install espeak
sudo apt-get install sox libsox-fmt-all

The first speaks english using a command like 

espeak -s120 -ven+f3 -a30 "This robot speaks English with a female voice and amplitude 30, at speed 120."

Code for other languages can be found at http://espeak.sourceforge.net/languages.html

The second line allows to play sound files, like 

play -v0.1 music.mp3

This line plays the a mp3 file with volume reduced by a factor 0.1. The at startup the blue button on the gamepad playes the file in /home/local/Music/music.mp3.
This is a symbolic link to some real music (Radetzky marsch in this case): 

ls ~/Music
   radetzky-marsch_Schloss-Schoenbrunn-Konzerte_Wien_full-length.mp3
cd ~/Music
ln -s radetzky-marsch_Schloss-Schoenbrunn-Konzerte_Wien_full-length.mp3 music.mp3

Sound level

On a Raspberry pi version 3+ (not tested on other versions) 

$ amixer
 Simple mixer control 'PCM',0
   Capabilities: pvolume pvolume-joined pswitch pswitch-joined
   Playback channels: Mono
   Limits: Playback -10239 - 400
   Mono: Playback 400 [100%] [4.00dB] [on]

An thus:
Setting the sound level can be done by: 

amixer set PCM 0dB unmute

Setting to maximum (100%) is about the same as setting 4dB (may be too much for amplifier). 

amixer set PCM 100% unmute

Regbot GUI

To run the regbot gui on the raspberry the following package is needed 

sudo apt install python-pyqtgraph

To start the GUI 

cd ~/regbot/qtgui
python regbot.py

Connect to network localhost or kill the bridge and connect directly to "/dev/ttyACM0" (not com5 as is the default serial connection).

File sharing for development

Mirror the local disk on the Raspberry to a PC, make all file editing here, and then on a terminal connection to the robot to compile the software.

Share files from windows

On the windows computer install "winscp" and use it to copy files to and from the raspberry disk as needed.

There are other methods too.

Share files on Linux

On a Linux PC use sshfs for sharing. Make an empty directory for the mapped disk, and then mount 

mkdir robobotdisk
sshfs local@192.168.0.2: robobotdisk

Unmount with 

fusermount -u robobotdisk

Or use "sudo unmount robobotdisk"

Retrieved from "https://rsewiki.electro.dtu.dk/index.php?title=Full_installation_instructions&oldid=4218"