Robot installation
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Installation of software on the robot
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Linux
Start with a fresh ubuntu 20.04
Packages to install
Install:
ntp ntpdate openssh-server git libreadline-dev sudo apt install ntp ntpdate openssh-server git libreadline-dev
Install ros-melodic-desktop-full, follow instructions in: http://wiki.ros.org/melodic/Installation/Ubuntu up to section 2. Tutorials.
NTP
Network time protocol, to keep clocks in sync. At DTU most clock sources are blocked, the clock source needs to be configured.
At DTU, edit /etc/ntp.conf, add ntp.ait.du.dk to server pool
... # Use servers from the NTP Pool Project. Approved by Ubuntu Technical Board # on 2011-02-08 (LP: #104525). See http://www.pool.ntp.org/join.html for # more information. pool ntp.ait.dtu.dk ...
Sync time
sudo ntpdate -u ntp.ait.dtu.dk
Should work in and around DTU - see also NTP howto for more details.
Boot in terminal mode
The raspberry is booted in terminal mode (should be default, to save memory).
Start graphics mode using "startx" after this change, if you need (Requires that a screen and keyboard is connected to the Raspberry).
Flexbot
Source code
Git repository is installed by
cd git clone https://repos.gbar.dtu.dk/git/jcan/flexbot.git flexbot
MAV link
Generate MAV link code (between ROS and Teensy controllers)
Install tk dialogs and controls and start generator
pip install future cd ~/flexbot/code/MAVLink/Generator python mavgenerate.py
And follow the instructions here http://rsewiki.elektro.dtu.dk/index.php/Mavlink#Generating_C-headers_.26_Python_file
Teensy code compile
Install Arduino and Teensyduino as described in Software installation section "Toolchain installation" and "Teensy loader and udev rules"
and make tool links in teensy code directory (arduino version numbers and directory could be different):
cd ~/flexbot/code/teensy_v2/ ln -s ~/arduino-1.8.7/hardware/tools . ln -s ~/arduino-1.8.7/hardware/teensy/avr/cores/teensy3 . ln -s ~/arduino-1.8.7/hardware/teensy/avr/libraries libteensy ln -s tools/teensy .
The teensy code is compiled using a Makefile and not the arduino IDE, so:
cd ~/flexbot/code/teensy_v2/ mv teensy3/main.cpp teensy3/main.cpp.not make
Teensy 3.5 SD-card error
These 2 files has an include error:
nano libteenst/SD/utility/SdFile.cpp nano libteensy/SD/utility/SdVolume.cpp
Change '#include <SdFat.h>' to '#include "SdFat.h"' in one of the first code lines.
Teensy rules
To recognize and access the Teensy then 49_teensy.rules implement:
ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="04[789B]?", ENV{ID_MM_DEVICE_IGNORE}="1" ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="04[789A]?", ENV{MTP_NO_PROBE}="1" SUBSYSTEMS=="usb", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="04[789ABCD]?", MODE:="0666" KERNEL=="ttyACM*", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="04[789B]?", MODE:="0666"
Upload new code to Teensy
Upload to one Teensy processor connected to this robot
make upload
NB! only works if there is one Teensy connected (I think), else
./teensy
Load hex file and press program button on Teensy.
new device names
Teensy creates /dev/ttyACM0, /dev/ttyACM1, ... in order of detection
Based in serial number these are mapped to new device names.
Make a link to 99-flexbot-legs.rules like this
cd /etc/udev/rules.d sudo ln -s ~/flexbot/code/99-flexbot-legs.rules
The 99-flexbot-legs.rules holds
# flexbot # rename serial device for teensy 3.5 controllers for flexbot # NB! must be changed every time a processor (or leg) is replaced # # This defines the order of the legs # # make a link in /etc/udev/rules.d/ to this file, e.g. # $ cd /etc/udev/rules.d # $ sudo ln -s /home/local/flexbot/code/99-fklexbot-legs.rules # # to find the serial number for a device, connect just one device and # # $ udevadm info -q all -n /dev/ttyACM0 # # find the ID_SERIAL_SHORT=4145230 # and insert that number into ATTRS{serial}=="xxxxx" # # to let udev read the changes you probably need # # $ sudo udevadm control --reload-rules # # Teensy at the base SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4004150", SYMLINK+="flexbot_base" # # teensy leg 1 - rear right SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4145230", SYMLINK+="flexbot_leg1" # # teensy leg 2 - front right SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000001", SYMLINK+="flexbot_leg2" # # teensy leg 3 - front left SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000002", SYMLINK+="flexbot_leg3" # # teensy leg 1 - rear left SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000003", SYMLINK+="flexbot_leg4"
ROS for flexbot
Make a ROS workspace for flexbot (from http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)
cd mkdir -p flexbot_ws/src cd flexbot_sw catkin_make
Link the flexbot code into the src directory
cd src ln -s ~/flexbot/code/base_node_ros cd .. catkin_make
If everything goes right, then
catkin_make install
The binary code is then in install/bin.
run base_node_ros
Run the node
install/bin/base_node_ros
If you get a "... Failed to contact master ..." error, then start roscore first
roscore &
base_node_ros
This node has a command line interface. Press h for help
BASE_NODE >> h
to get a list of commands.
apt update ROS key error
See:
https://answers.ros.org/question/325039/apt-update-fails-cannot-install-pkgs-key-not-working/