Robobot on Raspberry PI: Difference between revisions
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sudo apt install subversion # to get the source code | sudo apt install subversion # to get the source code | ||
sudo apt install | sudo apt install cmake # to be able co create Makefiles from a specification | ||
sudo apt install libopencv.dev # vision library | |||
== Get ROBOBOT and REGBOT source == | == Get ROBOBOT and REGBOT source == | ||
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Type | Type | ||
cd ~/robobot_bridge | cd ~/robobot_bridge | ||
make - | mkdir -p build # make a build directort -p accepts it may be there already | ||
cd | cd build | ||
make -j4 | cmake .. # builds Makefile from CMakeLists.txt in parent directory ".." | ||
to | make -j4 # compile - using 4 CPUs | ||
cd ~/mission # to C++ version of mission control | |||
mkdir -p build # make a build directort -p accepts it may be there already | |||
cd build | cd build | ||
cmake .. | cmake .. # builds Makefile from CMakeLists.txt in parent directory ".." | ||
make -j4 # compile - using 4 CPUs | |||
==REGBOT software== | ==REGBOT software== | ||
The REGBOT [[Regbot]] is | |||
The REGBOT software is in the ~/regbot/regbot directory | The REGBOT software is in the ~/regbot/regbot directory | ||
Revision as of 11:58, 24 December 2020
Back to Robobot
Software packages
Install the following paxkages on the Raspberry to get, run and maintain the Robobot software
sudo apt install subversion # to get the source code sudo apt install cmake # to be able co create Makefiles from a specification sudo apt install libopencv.dev # vision library
Get ROBOBOT and REGBOT source
This is probably installed already, otherwise use
cd svn co svn://repos.gbar.dtu.dk/jcan/regbot ln -s regbot/mission ln -s regbot/robobot_bridge ln -s regbot/regbotgui
Update ROBOBOT source
On the raspberry there is the following directories:
$ cd $ ls mission Mission software skeleton that can also access the raspberry camera qtgui Copy of the configuration gui (python files), and a windows executable in the 'dist' subdirectory regbot/regbot Firmware for the REGBOT part robobot_bridge The connection software between the REGBOT, the small display, the remote control and the mission software
Update
All these source directories are already connected to a SVN repository, but probably need update, by
cd cd mission svn up cd ../regbotgui svn up cd ../regbot svn up cd ../robobot_bridge svn up
Compile
If there are updates, then they need a recompile (except qtgui).
Mission and Robobot_bridge has a 'build' subdirectory with a Makefile, REGBOT has the Makefile in the base directory.
Type
cd ~/robobot_bridge mkdir -p build # make a build directort -p accepts it may be there already cd build cmake .. # builds Makefile from CMakeLists.txt in parent directory ".." make -j4 # compile - using 4 CPUs cd ~/mission # to C++ version of mission control mkdir -p build # make a build directort -p accepts it may be there already cd build cmake .. # builds Makefile from CMakeLists.txt in parent directory ".." make -j4 # compile - using 4 CPUs
REGBOT software
The REGBOT Regbot is The REGBOT software is in the ~/regbot/regbot directory
To compile it for the REGBOT version 4 hardware with a Teensy 3.5 processor board, go to the '3.5' subdirectory
cd ~/regbot/regbot/3.5 make -j4
If successful a regbot.hex file is generated and should be uploaded to the REGBOT Teensy 3.5 processor.
This can be done from a console with X-messages enabled.
ssh -X local@solvej.local
if the robot is 'solvej'.
NB! While programming all the pins on the processor are released, including the one maintaining power to the robot. This means that the red button on the board MUST be pressed during the MAKE UPLOAD command
cd ~/regbot/regbot/3.5 make upload
See the regbot directory for more details.