Full installation instructions
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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).
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 >>
ROBOBOT mission C++
This is a skeleton software in C++ to access both raspberry camera, the REGBOT, then small display and the joystick (gamepad). An example mission is implemented.
Get the ROBOBOT software from the svn repository:
svn checkout svn://repos.gbar.dtu.dk/jcan/regbot/mission mission
or just update if there already
cd ~/mission svn up
-- ?? is this step needed?
To be able to compile the demo software CMAKE needs also to use the user installed library (raspicam installed above), so add the following line to ~/.bashrc:
export CMAKE_PREFIX_PATH=/usr/local/lib
-- from here OK
Then build Makefiles and compile:
cd ~/mission mkdir -p build cd build cmake .. make
Then test-run the application:
./mission
It should print that the camera is open and connected to the robot (bidge).
Software structure
The software is structures as shown in figure 1 below.
Figure 1. The example mission software intended as basis for full mission control. In the main.cpp file, three objects are created: bridge (UBridge reg(127.0.0.1)), camera (UCamera cam()) and mission (UMission mission(®, &cam)). The bridge handles communication and stores all data from the robot and the gamepad. The camera can capture images and image processing is intended here. The mission object is intended for splitting long missions into mission snippets that the REGBOT can execute.
The mission class has access to robot data and the camera at all times using the pointers "bot->" and "cam->". e.g. the heading (relative to the start position) and if the yellow gamepad button is pressed, can be fetched as:
float heading = bot->pose->h; bool yellowButton = bot->joy->button[3];
Details about the data code may be found in the upose.cpp, uinfo.cpp, ujoy.cpp, umotor.cpp ... files.
The sound system can be used for debugging, e.g. add a C++ line like:
system("espeak \"bettina reached point 3\" -ven+f4 -a30 -s130");
This line makes the robot say "bettina reached point 3" the parameters "-a30" turns amplitude down to 30%, "-ven+f4" sets language to english with female voice 4 and "-s130" makes the speech a little slower and easier to understand. It requires that espeak is installed (sudo apt install espeak).
USB as SOCKET for REGBOT client
Skip this section - for use without robobot_bridge only.
This is not compatible with use of ROBOBOT_BRIDGE, so don't use it here
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:
sudo apt install socat
Add the following line to /etc/rc.local
socat TCP-LISTEN:24001,fork,reuseaddr FILE:/dev/ttyACM0,raw,echo=0 &
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.
Works after a reboot, or the same line on the command prompt.
This is good for configuring the REGBOT (in REGBOT client connect wifi to IP of robot, e.g. 192.168.0.2).
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.
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.
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"
