Full installation instructions

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==Installation instruction on the raspberry==
 
==Installation instruction on the raspberry==
  
Line 4: Line 7:
  
 
[[Install on raspberry]] first section (prerequisites).
 
[[Install on raspberry]] first section (prerequisites).
 +
 +
===Opencv 3.4===
 +
 +
It should be OK just to install libopencv-dev - in December 2020 this installs version 3.2.0
 +
 +
sudo apt install libopencv-dev
 +
 +
To find the installed version of OpenCV try
 +
 +
pkg-config --modversion opencv
 +
 +
To install newer OpenCV version 3.4  (as of Jan 2020 it is version 3.4.9)
 +
 +
cd
 +
mkdir -p git
 +
cd git
 +
# this method will install version 4.2 - that is not fully compatible (jan 2020)
 +
# git clone https://github.com/opencv/opencv.git
 +
# git clone https://github.com/opencv/opencv_contrib.git
 +
# use this to get a version compatible with opencv 3.4
 +
# get source (jan 2020)
 +
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
 +
# compile the lot, but ommit python3 support, as the compile will fail (as of jan 2020)
 +
cd opencv
 +
mkdir build
 +
cd build
 +
# create makefiles, also for all modules in the opencv_contrib (e.g. ArUco code detect)
 +
# cmake -D CMAKE_BUILD_TYPE=RELEASE -D BUILD_opencv_python3=OFF -D OPENCV_EXTRA_MODULES_PATH=~/git/opencv_contrib/modules ..
 +
cmake -D CMAKE_BUILD_TYPE=RELEASE -D BUILD_opencv_python3=OFF -D OPENCV_EXTRA_MODULES_PATH=~/git/opencv_contrib-3.4/modules ..
 +
# 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 more than an hour.
 +
# if the compilation crashes about halfway or so, it is probably due to lack of memory
 +
#    then just start the compile again, and it is likely to continue (at least for a while)
 +
make -j2
 +
# install into /usr/local
 +
sudo make install
 +
# load environment settings
 +
sudo ldconfig
  
 
===Raspicam===
 
===Raspicam===
 +
 +
NB! this should not be needed
  
 
A rather short raspberry pi camera API is available from https://www.uco.es/investiga/grupos/ava/node/40.
 
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/?
+
And can be downloaded from https://sourceforge.net/projects/raspicam/files/,
 +
 
 +
or get the file from sourceforge with no GUI, with:
 +
 
 +
cd ~/Downloads
 +
wget --no-check-certificate -O raspicam-0.1.9.zip https://downloads.sourceforge.net/project/raspicam/raspicam-0.1.9.zip?r=https%3A%2F%2Fsourceforge.net%2Fprojects%2Fraspicam%2F%3Fsource%3Dtyp_redirect&ts=1486483484&use_mirror=netix
  
 +
Once fetched and available on the raspberry, then
 
Unpack and install:
 
Unpack and install:
−
  unzip raspicam-0.1.3.zip
+
  unzip raspicam-0.1.9.zip
−
  cd raspicam-0.1.3
+
  cd raspicam-0.1.9
 
  mkdir build
 
  mkdir build
 
  cd build
 
  cd build
Line 20: Line 73:
 
  sudo ldconfig
 
  sudo ldconfig
  
−
The library is installed in /usr/local, and therefore to make cmake find it the path needs to be added to to startup configuration
+
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
 
  export CMAKE_PREFIX_PATH=/usr/local/lib
  
−
(needs a re-logon to be activated)
+
(needs a re-logon to be activated, or repeat on the command line)
−
 
+
−
===Userland-master===
+
−
 
+
−
To be able to install mobotware
+
−
 
+
−
Follow the guide under REGBOT for userland-master install - [[Install on raspberry]]
+
  
 
===DNSMASQ===
 
===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.
+
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
 
Install DNSMASQ
Line 44: Line 93:
  
 
  sudo nano /etc/dnsmasq.conf
 
  sudo nano /etc/dnsmasq.conf
−
 
+
find and change/add the following line (a bit down, eg to serch use: ctrl-W dhcp-range)
−
find and change/add the following line (for eth0)
+
  dhcp-range=192.168.17.100,192.168.17.150,12h
−
 
+
−
  dhcp-range=eth0,192.168.0.100,192.168.0.150,12h
+
  
 
To work, the eth0 must have an IP, if noone provides one,
 
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
 
change /etc/dhcpcd.conf (dhcp client deamon) to have a default IP, if no DHCP server is available
  
−
Add the following lines at the end of /etc/dhcpcd.conf to have a fall back behaviour for eth0 and eth1.
+
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
 
  # define static profile
 
  profile static_eth0
 
  profile static_eth0
−
  static ip_address=192.168.0.2/24
+
  static ip_address=192.168.17.1/24
−
  static routers=192.168.0.1
+
  # static routers=192.168.0.1
−
  static domain_name_servers=192.168.0.1
+
  # static domain_name_servers=192.168.0.1
 
   
 
   
 
  # fallback to static profile on eth0
 
  # fallback to static profile on eth0
Line 64: Line 113:
 
  fallback static_eth0  
 
  fallback static_eth0  
 
   
 
   
−
# define static profile
 
−
profile static_eth1
 
−
static ip_address=192.168.1.2/24
 
−
static routers=192.168.1.1
 
−
#static domain_name_servers=192.168.0.1
 
−
 
−
# fallback to static profile on eth1
 
−
interface eth1
 
−
fallback static_eth1
 
  
 
This will also give a default IP for an eventual second network (usb-to-cable) if needed
 
This will also give a default IP for an eventual second network (usb-to-cable) if needed
Line 78: Line 118:
 
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
 
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@192.168.0.2
+
  ssh local@192.168.17.1
  
−
should work
+
===Sound===
  
−
===ROBOBOT demo C++===
+
====festival====
  
−
This is an examplesoftware in C++ to access both raspberry camera and REGBOT, and with an example mission controlled from the raspberry.
+
Easy understandable voice, but takes time to generate
 +
and require two intermediate files
  
−
Get the robobot software from the svn repository:
+
sudo apt install festival
 +
echo "The brown fox jumps over lazy dog" > aaa.txt
 +
text2wave aaa.txt -o aaa.wav
 +
aplay aaa.wav
  
−
svn checkout svn://repos.gbar.dtu.dk/jcan/regbot/robobot robobot
+
====Music files====
  
−
To be able to compile the demo software CMAKE needs also to use the user installed library (raspicam installed above),
+
This part works
−
so add the following line to ~/.bashrc:
+
  
−
export CMAKE_PREFIX_PATH=/usr/local/lib
+
Play sound files, like
  
−
Then build Makefiles and compile:
+
sudo apt-get install sox libsox-fmt-all
 +
play -v0.1 music.mp3
  
−
cd robobot
+
This line plays an mp3 file with volume reduced by a factor 0.1.
−
cd build
+
The at startup the blue button on the gamepad plays the file in /home/local/Music/music.mp3.<br>
−
cmake ..
+
This is a symbolic link to some real music (Radetzky Marsch in this case):
−
make
+
  
−
Then testrun the application:
+
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
  
−
./robobot
+
===Sound level===
  
−
It should print that the camera is open, save an image and print some data from the robot (e.g. position).
+
On a Raspberry pi version 3+ (not tested on other versions)
  
−
===USB as SOCKET for REGBOT client===
+
$ 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]
  
−
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:
+
An thus:<br>
 +
Setting the sound level can be done by:
  
−
  sudo apt install socat
+
  amixer set PCM 0dB unmute
  
−
Add the following line to /etc/rc.local
+
Setting to maximum (100%) is about the same as setting 4dB (may be too much for amplifier).
  
−
  socat TCP-LISTEN:24001,fork,reuseaddr FILE:/dev/ttyACM0,raw,echo=0
+
  amixer set PCM 100% unmute
  
−
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.
+
===Regbot GUI===
  
−
Works after a reboot, or the same line on the command prompt.
+
To run the regbot gui on the raspberry the following package is needed
  
−
This is good for configuring the REGBOT (in REGBOT client connect wifi to IP of robot, e.g. 192.168.0.2).
+
Additional python packages used
  
−
===Share files from windows===
+
* python-pyqtgraph
 +
* python-qt4-gl
 +
* python-serial
 +
* python-scipy
  
−
To share files on all windows computers (without need for administrator) configure a samba share
+
sudo apt install python-pyqtgraph python-qt4-gl python-serial python-scipy
−
(or follow Simon on http://simonthepiman.com/how_to_setup_windows_file_server.php)
+
  
−
First install samba
 
  
−
sudo apt install samba samba-common-bin
+
=====* no python-pyqtgraph =====
  
−
then edit /etc/samba/smb.conf
+
On my 14.04 32 bit ubuntu the python-pyqtgraph package was not found using apt-get, so I
  
−
sudo nano /etc/samba/smb.conf
+
downloaded from http://www.pyqtgraph.org/
 +
the debian package ''python-pyqtgraph_0.9.10-1_all.deb'' and installed using:
  
−
comment out all lines under the headlines:
+
  sudo dpkg -i python-pyqtgraph_0.9.10-1_all.deb
−
  [homes]
+
−
[printers]
+
−
[print$]
+
−
[cdrom]
+
  
−
Add the following section at the end:
+
sudo apt install python-pyqtgraph
  
−
[robobot]
+
To start the GUI
−
comment = Raspberry Pi user LOCAL home directory
+
−
path = /home/local
+
−
writeable = Yes
+
−
only guest = Yes
+
−
create mask = 0777
+
−
directory mask = 0777
+
−
browseable = Yes
+
−
public = yes
+
  
 +
cd ~/regbot/qtgui
 +
python regbot.py
  
−
Add "local" and "pi" as a samba user (and set password, for user pi it should be "raspberry"):
+
Connect to network localhost or kill the bridge and connect directly to "/dev/ttyACM0" (not com5 as is the default serial connection).
  
−
sudo smbpasswd -a local
+
== File sharing for development ==
−
sudo smbpasswd -a pi
+
  
−
Reboot to implement
+
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.
  
−
sudo reboot
+
===Share files from windows===
−
 
+
−
====Windows map drive====
+
−
 
+
−
On the windows computer, connect a network cable directly between the robobot and the computer, e.g. using a USB to Ethernet converter. Robobot should now be available with network address 192.168.0.2 (you could try a ping if in doubt).
+
−
 
+
−
In the file browser:
+
−
* select "map network drive" (menu tools, or right-click on "my computer").
+
−
* select drive R: (for robobot) - or another if R is used already.
+
−
* in the folder field write: \\192.168.0.2\robobot, and select "Connect using different credentials", then OK.
+
−
* Type in username (local or pi) and the appropriate password (and OK).
+
  
−
Now the code and other files can be accessed and manipulated from windows, e.g. using an IDE.
+
On the windows computer install "winscp" and use it to copy files to and from the raspberry disk as needed.
  
−
* But the code still needs to be compiled on the raspberry (install and use putty for a ssh terminal access)
+
There are other methods too.
  
 
===Share files on Linux===
 
===Share files on Linux===
  
−
On the Linux PC use sshfs for sharing rather than samba.
+
On a Linux PC use sshfs for sharing.
 
Make an empty directory for the mapped disk, and then mount
 
Make an empty directory for the mapped disk, and then mount
  

Latest revision as of 13:55, 24 December 2020

Back to Robobot


Contents

[edit] 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).

[edit] Opencv 3.4

It should be OK just to install libopencv-dev - in December 2020 this installs version 3.2.0 

sudo apt install libopencv-dev

To find the installed version of OpenCV try 

pkg-config --modversion opencv

To install newer OpenCV version 3.4 (as of Jan 2020 it is version 3.4.9) 

cd
mkdir -p git
cd git
# this method will install version 4.2 - that is not fully compatible (jan 2020)
# git clone https://github.com/opencv/opencv.git
# git clone https://github.com/opencv/opencv_contrib.git
# use this to get a version compatible with opencv 3.4
# get source (jan 2020)
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
# compile the lot, but ommit python3 support, as the compile will fail (as of jan 2020)
cd opencv
mkdir build
cd build
# create makefiles, also for all modules in the opencv_contrib (e.g. ArUco code detect)
# cmake -D CMAKE_BUILD_TYPE=RELEASE -D BUILD_opencv_python3=OFF -D OPENCV_EXTRA_MODULES_PATH=~/git/opencv_contrib/modules ..
cmake -D CMAKE_BUILD_TYPE=RELEASE -D BUILD_opencv_python3=OFF -D OPENCV_EXTRA_MODULES_PATH=~/git/opencv_contrib-3.4/modules ..
# 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 more than an hour.
# if the compilation crashes about halfway or so, it is probably due to lack of memory
#    then just start the compile again, and it is likely to continue (at least for a while)
make -j2
# install into /usr/local
sudo make install
# load environment settings
sudo ldconfig

[edit] Raspicam

NB! this should not be needed

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: 

cd ~/Downloads
wget --no-check-certificate -O raspicam-0.1.9.zip https://downloads.sourceforge.net/project/raspicam/raspicam-0.1.9.zip?r=https%3A%2F%2Fsourceforge.net%2Fprojects%2Fraspicam%2F%3Fsource%3Dtyp_redirect&ts=1486483484&use_mirror=netix

Once fetched and available on the raspberry, then Unpack and install: 

unzip raspicam-0.1.9.zip
cd raspicam-0.1.9
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)

[edit] 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

[edit] Sound

[edit] festival

Easy understandable voice, but takes time to generate and require two intermediate files 

sudo apt install festival
echo "The brown fox jumps over lazy dog" > aaa.txt
text2wave aaa.txt -o aaa.wav
aplay aaa.wav

[edit] Music files

This part works

Play sound files, like 

sudo apt-get install sox libsox-fmt-all
play -v0.1 music.mp3

This line plays an mp3 file with volume reduced by a factor 0.1. The at startup the blue button on the gamepad plays 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

[edit] 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

[edit] Regbot GUI

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

Additional python packages used

  • python-pyqtgraph
  • python-qt4-gl
  • python-serial
  • python-scipy 
sudo apt install python-pyqtgraph python-qt4-gl python-serial python-scipy


[edit] * no python-pyqtgraph

On my 14.04 32 bit ubuntu the python-pyqtgraph package was not found using apt-get, so I

downloaded from http://www.pyqtgraph.org/ the debian package python-pyqtgraph_0.9.10-1_all.deb and installed using: 

sudo dpkg -i python-pyqtgraph_0.9.10-1_all.deb

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).

[edit] 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.

[edit] 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.

[edit] 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 "http://rsewiki.elektro.dtu.dk/index.php?title=Full_installation_instructions&oldid=5213"
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