Install on raspberry

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Short note on installation of (parts of) mobotware on Raspberry Pi
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Back to [[Robobot]]
  
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=== Prerequisite ===
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Back to [[Flexbot]]
  
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First install 2012-10-28-wheezy-raspbian on the raspberry Pi flashdisk and expand the flash-disk to at least 4GB - see the instructions on http://elinux.org/RaspberryPiBoardBeginners
 
  
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Assuming this is up and running - with internet access
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== Prerequisite ==
  
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=== Configure ===
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* Raspberry pi - version 3 or 4
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* SD-card preferably at least 16Gb
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* Monitor with HDMI (version 3) or micro HDMI (version 4) cable
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* keyboard - and optional a mouse
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* Access to network (wired or wifi)
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* Power - either an USB charger or cable to a PC (micro USB (version 3) or USB-C (version 4)
  
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Using raspi-config enable
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It should be possible to start using USB or wifi connection from a PC without extra screen or keyboard, find solutions on internet - I have not tried.
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Expand Filesystem
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Enable Camera
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Set hostname
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Enable SSH
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Enable i2c - load module as default
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Disable Serial login
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reboot
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====Make SD card a FAT32 partision, if reusing an old card====
  
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=== Login ===
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A new SD-card is fine as is, else
  
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login as pi, password raspberry
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see http://qdosmsq.dunbar-it.co.uk/blog/2013/06/noobs-for-raspberry-pi/ for instruction to prepare any old or new SD-card
  
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add a user called local
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====Add boot-files to SD card====
  
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sudo adduser local
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=====RPI imager =====
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sudo usermod -a --groups adm,cdrom,sudo,audio,video,plugdev,games,users,netdev,input,spi,gpio local
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switch user to local, and ensure groups are OK, and network is running
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Version 10 (buster) is easily installed using the 'Raspberry pi imager',
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on Linux install with
  
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  su - local
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  snap install rpi-imager
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  groups
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  rpi-imager
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ifconfig
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Note the inet address.
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and follow the screen
  
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Now it is possible to login from network.
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=====manual =====
  
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'''Do NOT login as root'''
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or
  
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=== Packages needed for Mobotware RHD/MRC ===
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Get the install zip-file from https://www.raspberrypi.org/downloads/noobs/  
  
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The following packages needs to be installed - e.g. using apt-get like:
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Then unpack NOOBS zip-file to the new disk (use the newest version), like
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for the network version
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unzip NOOBS_lite_v3_5_1.zip -d /media/xxx/yyyy  or
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unzip ~/Downloads/raspberry/NOOBS_lite_v3_5_1.zip  (if you are on the empty flash)
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or for the full version
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unzip NOOBS_v3_5_1.zip -d /media/xxx/yyyy  or
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unzip ~/Downloads/raspberry/NOOBS_v3_5_1.zip  (if you are on the empty flash)
  
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sudo apt-get install subversion
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====Reboot====
  
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Package list:
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* Insert SD card on Raspberry,
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* Mount a heatsink - especially needed on version 4,
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* Connect monitor, keyboard and (USB) power
  
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subversion  (to fetch mobotware from SVN)
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That is all, Raspberry should boot on that, and take some time to prepare the SD-Card.
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libexpat-dev  (RHD)
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Or see instructions on e.g.: https://www.raspberrypi.org/help/noobs-setup/
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pciutils-dev  (RHD)
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libncurses-dev (RHD)
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bison          (MRC)
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libsdl-dev    (MRC)
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telnet        (MRC test)
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sudo apt-get install subversion libexpat-dev pciutils-dev libncurses-dev bison libsdl-dev telnet
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Get and unpack mobotware - you need the following directories only:
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* Boot the raspberry and install the Raspberry Pi OS full (Debian).
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mobotware/aumat
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* On the bottom of the screen select keyboard layout and language,
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mobotware/mrc
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mobotware/rhd
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mobotware/build
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The rest of the directories can be deleted, so can rhd/branches
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===Test Gstreamer===
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Settings
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Test to get camera working using gstreamer
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Package list
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* Leave the pi password as is (for future reuse)
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alsa-tools gstreamer0.10-alsa gstreamer0.10-ffmpeg
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* Select language (prefer English - also for future reuse)
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gstreamer0.10-fluendo-mp3 gstreamer0.10-plugins-base
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* select wifi access - if not using a cable.
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gstreamer0.10-tools
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- did not help - neither auv4lgst nor VLC can capture images
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v4l-compatibility seems OK
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=== Build ===
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==Usefull Linux commands==
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Build the needed parts of mobotware, e.g.:
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cd ~/mobotware/aumat/trunk
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make
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cd ../../rhd/trunk
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make
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cd ../../mrc/trunk
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make
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In this order
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Then collect the configuration and binary files in a test directory
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Here are some common commands in Linux
  
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=== Test ===
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ls    (directory file list)
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cd    (change to home directory)
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cd some_directory    (change to a subdirectory)
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exit  (logout, e.g. of a ssh session)
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grep -n string_to_look_for_in_a_file  *.cpp    (find a string in a file, e.g. a variable or a function)
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sudo some_command    (execute a command as "root" - root is a superuser with administrator rights to everything)
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pkill some_application_name  (stop (or kill) a running process with name "some_application_name")
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pgrep some_application_name  (see if a process is running - good to use before a kill)
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mv  from_file to_file    (rename a file)
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cp  from_file to_file    (copy a file)
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rm  some_file            (remove (delete) a file)
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nano some_file          (simple text editor)
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zip, unzip              (pack or unpack files -  try zip --help  to see how.
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top    (see process load and memory usage)
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make    (compile all as described in the "Makefile" in the same directory)
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make -j4 (compile using up to 4 CPU cores - faster if more files need to be compiled)
  
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make a test directory and fill it with the needed configuration and binary files, e.g.
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All commands have an online help if you add --help or -h after the command.
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mkdir live
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If this is not enough, then try
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cd live
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  man ls
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cp -r ~/mobotware/build/config/ROBOT_TYPE/* .
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to get the manual page for the ls command.
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ln -s ~/mobotware/rhd/trunc/build/bin/rhd .
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ln -s ~/mobotware/rhd/trunk/build/bin/rhdtest .
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  ln -s ~/mobotware/mrc/trunk/mrc/mrc .
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echo "" >calib/wdssparam.dat
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You now need to modify the rhdconfig.xml file:
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== Configure ==
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Change the path to plugins, using e.g. nano
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nano -w rhdconfig.xml
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Change the line (assuming you use the default pi user)
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from: <plugins basepath="/usr/local/smr/lib/rhdplugin/">
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to:  <plugins basepath="/home/pi/mobotware/rhd/trunk/build/lib/rhdplugin/">
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In the rhdconfig.xml there is already a number og plugins, this list need to be updated to your configuration.
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To test if the RHD is running you may just change the attribute critical="true" to critical="false", the RHD will then continue even if the plugin fails to initialize. If some plugin is not found - e.g. maestro12ch.so.1 (it is not compiled by default) - then delete it from the rhdconfig.xml file, or change enable="true" to enable="false" for this plugin.
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==== Raspberry ====
  
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The file calib/robot.conf needs update too.
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use raspi-config, start a terminal:
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You may use the configuration files in mobotware/build/config for inspiration
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Now start the RHD (in the live directory):
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  sudo raspi-config
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  ./rhd
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It should end by saying "RHD is running", else check the rhdconfig.xml as above.
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Open a new terminal tab and run rhdtest to see if it is alive:
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Using ''raspi-config''
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  ./rhdtest
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  Enable Camera
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And type
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  Set hostname (one word, no space)
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  connect
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  Enable SSH
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You should now see a list of variables, where at least the Tick is updating.
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Disable Serial login
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  boot as a console with login
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Stop the rhdtest with ctrl-c
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Update firmware
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  Set locale to "en_DK.UTF-8 UTF-8" (danish keyboard, but English language)
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===MRC test===
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Start the MRC (while the RHD is running) using socket interface:
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  ./mrc -t1
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In another terminal window use telnet to connect to the MRC
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  telnet localhost 31001
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MRC commands like
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  eval $time
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Should now be avilable
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If all this is OK, then the raspberry Pi is running, and you only need to connect it to your robot througt an appropriate set of rhd plug-ins and make a MRC script to make it run.
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=== Update operating system ===
  
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===Performance===
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Ensure you have internet access, then
  
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The RHD and MRC running in idle with an update rate of 100 HZ is consuming about 3-4% CPU load each.
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sudo apt-get update
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sudo apt-get dist-upgrade
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sudo reboot

Latest revision as of 09:54, 24 December 2021

Back to Robobot

Back to Flexbot


Contents

[edit] Prerequisite

  • Raspberry pi - version 3 or 4
  • SD-card preferably at least 16Gb
  • Monitor with HDMI (version 3) or micro HDMI (version 4) cable
  • keyboard - and optional a mouse
  • Access to network (wired or wifi)
  • Power - either an USB charger or cable to a PC (micro USB (version 3) or USB-C (version 4)

It should be possible to start using USB or wifi connection from a PC without extra screen or keyboard, find solutions on internet - I have not tried.

[edit] Make SD card a FAT32 partision, if reusing an old card

A new SD-card is fine as is, else

see http://qdosmsq.dunbar-it.co.uk/blog/2013/06/noobs-for-raspberry-pi/ for instruction to prepare any old or new SD-card

[edit] Add boot-files to SD card

[edit] RPI imager

Version 10 (buster) is easily installed using the 'Raspberry pi imager', on Linux install with 

snap install rpi-imager
rpi-imager

and follow the screen

[edit] manual

or

Get the install zip-file from https://www.raspberrypi.org/downloads/noobs/

Then unpack NOOBS zip-file to the new disk (use the newest version), like for the network version 

unzip NOOBS_lite_v3_5_1.zip -d /media/xxx/yyyy  or
unzip ~/Downloads/raspberry/NOOBS_lite_v3_5_1.zip  (if you are on the empty flash)

or for the full version 

unzip NOOBS_v3_5_1.zip -d /media/xxx/yyyy  or
unzip ~/Downloads/raspberry/NOOBS_v3_5_1.zip  (if you are on the empty flash)

[edit] Reboot

  • Insert SD card on Raspberry,
  • Mount a heatsink - especially needed on version 4,
  • Connect monitor, keyboard and (USB) power

That is all, Raspberry should boot on that, and take some time to prepare the SD-Card. Or see instructions on e.g.: https://www.raspberrypi.org/help/noobs-setup/

  • Boot the raspberry and install the Raspberry Pi OS full (Debian).
  • On the bottom of the screen select keyboard layout and language,

Settings

  • Leave the pi password as is (for future reuse)
  • Select language (prefer English - also for future reuse)
  • select wifi access - if not using a cable.

[edit] Usefull Linux commands

Here are some common commands in Linux 

ls     (directory file list)
cd     (change to home directory)
cd some_directory    (change to a subdirectory)
exit   (logout, e.g. of a ssh session)
grep -n string_to_look_for_in_a_file  *.cpp     (find a string in a file, e.g. a variable or a function)
sudo some_command    (execute a command as "root" - root is a superuser with administrator rights to everything)
pkill some_application_name  (stop (or kill) a running process with name "some_application_name")
pgrep some_application_name  (see if a process is running - good to use before a kill)
mv  from_file to_file    (rename a file)
cp  from_file to_file    (copy a file)
rm  some_file            (remove (delete) a file)
nano some_file           (simple text editor)
zip, unzip               (pack or unpack files -  try zip --help   to see how.
top     (see process load and memory usage)
make    (compile all as described in the "Makefile" in the same directory)
make -j4 (compile using up to 4 CPU cores - faster if more files need to be compiled)

All commands have an online help if you add --help or -h after the command. If this is not enough, then try 

man ls

to get the manual page for the ls command.

[edit] Configure

[edit] Raspberry

use raspi-config, start a terminal: 

sudo raspi-config

Using raspi-config 

Enable Camera
Set hostname (one word, no space)
Enable SSH
Disable Serial login
boot as a console with login
Update firmware
Set locale to "en_DK.UTF-8 UTF-8" (danish keyboard, but English language)

[edit] Update operating system

Ensure you have internet access, then 

sudo apt-get update
sudo apt-get dist-upgrade
sudo reboot
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