Robobot on Raspberry PI
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| − | == | + | == Get ROBOBOT and REGBOT source == |
| − | This | + | 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 | ||
| + | svn co svn://repos.gbar.dtu.dk/jcan/regbot && ln -s regbot/mission && ln -s regbot/robobot_bridge && ln -s regbot/regbotgui | ||
| − | + | ==Update and compile== | |
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| − | == | + | |
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On the raspberry there is the following directories: | On the raspberry there is the following directories: | ||
| − | $ cd | + | $ cd |
| − | + | $ ls | |
mission Mission software skeleton that can also access the raspberry camera | mission Mission software skeleton that can also access the raspberry camera | ||
| − | + | regbotgui Configuration GUI for REGBOT (python), a Windows executable can be found in course material. | |
| − | regbot | + | 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 | robobot_bridge The connection software between the REGBOT, the small display, the remote control and the mission software | ||
| Line 39: | Line 31: | ||
cd mission | cd mission | ||
svn up | svn up | ||
| − | cd ../ | + | cd ../regbotgui |
svn up | svn up | ||
cd ../regbot | cd ../regbot | ||
| Line 50: | Line 42: | ||
If there are updates, then they need a recompile (except qtgui). | 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 | + | Mission and Robobot_bridge has a 'build' subdirectory with a Makefile, REGBOT has the Makefile in the base directory. |
Type | Type | ||
| − | cd ~/robobot_bridge | + | cd ~/robobot_bridge |
| − | make - | + | mkdir -p build # make a build directory; -p accepts it may be there already |
| − | cd ~/mission | + | cd build |
| − | make - | + | cmake .. # builds Makefile from CMakeLists.txt in parent directory ".." |
| − | + | make -j3 # compile - using 3 CPU cores (not to overheat) | |
| + | cd ~/mission # to C++ version of mission control | ||
| + | mkdir -p build # make a build directory; -p accepts it may be there already | ||
| + | cd build | ||
| + | cmake .. # builds Makefile from CMakeLists.txt in parent directory ".." | ||
| + | make -j3 # compile - using 3 CPU cores | ||
| − | + | === Start robobot_bridge === | |
| − | + | The ROBOBOT bridge should start automatically to open the display (showing IP and battery voltage) | |
| − | + | and optionally also camera streaming (must be installed first) | |
| + | |||
| + | nano /etc/rc.local | ||
| + | |||
| + | add the following lines before 'exit 0' (close to the end) | ||
| + | |||
| + | # DTU fix for time over blocked network | ||
| + | htpdate -q www.linux.org www.freebsd.org | ||
| + | # start ROBOBOT bridge | ||
| + | cd /home/local/robobot_bridge/build && ./robobot_bridge -a & | ||
| + | |||
| + | Copy and 'shift-ctrl-v' will do | ||
==REGBOT software== | ==REGBOT software== | ||
| + | |||
| + | The REGBOT is programmed with Arduino (and Teensyduino) and require these tools to be installed to compile and install the firmware | ||
| + | See the installation procedure description in [[Software_installation]]. | ||
The REGBOT software is in the ~/regbot/regbot directory | 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 | + | To compile it for the REGBOT version 4 hardware (red board) with a Teensy 3.5 processor board, go to the '3.5' subdirectory |
cd ~/regbot/regbot/3.5 | cd ~/regbot/regbot/3.5 | ||
make -j4 | make -j4 | ||
| − | If | + | 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. | This can be done from a console with X-messages enabled. | ||
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if the robot is 'solvej'. | if the robot is 'solvej'. | ||
| − | NB! While programming all the pins on the processor | + | 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 | This means that the '''red button on the board MUST be pressed''' during the MAKE UPLOAD command | ||
Latest revision as of 13:57, 25 December 2021
Back to Robobot
Contents |
[edit] 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 svn co svn://repos.gbar.dtu.dk/jcan/regbot && ln -s regbot/mission && ln -s regbot/robobot_bridge && ln -s regbot/regbotgui
[edit] Update and compile
On the raspberry there is the following directories:
$ cd $ ls mission Mission software skeleton that can also access the raspberry camera regbotgui Configuration GUI for REGBOT (python), a Windows executable can be found in course material. 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
[edit] 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
[edit] 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 directory; -p accepts it may be there already cd build cmake .. # builds Makefile from CMakeLists.txt in parent directory ".." make -j3 # compile - using 3 CPU cores (not to overheat) cd ~/mission # to C++ version of mission control mkdir -p build # make a build directory; -p accepts it may be there already cd build cmake .. # builds Makefile from CMakeLists.txt in parent directory ".." make -j3 # compile - using 3 CPU cores
[edit] Start robobot_bridge
The ROBOBOT bridge should start automatically to open the display (showing IP and battery voltage) and optionally also camera streaming (must be installed first)
nano /etc/rc.local
add the following lines before 'exit 0' (close to the end)
# DTU fix for time over blocked network htpdate -q www.linux.org www.freebsd.org # start ROBOBOT bridge cd /home/local/robobot_bridge/build && ./robobot_bridge -a &
Copy and 'shift-ctrl-v' will do
[edit] REGBOT software
The REGBOT is programmed with Arduino (and Teensyduino) and require these tools to be installed to compile and install the firmware See the installation procedure description in Software_installation.
The REGBOT software is in the ~/regbot/regbot directory
To compile it for the REGBOT version 4 hardware (red board) 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.
