Robobot

This page is for ROBOBOT, an extension of REGBOT with a raspberry pi and three wheels.

Installation observations

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/?

Unpack and install:

unzip raspicam-0.1.3.zip
cd raspicam-0.1.3
mkdir build
cd build
cmake ..
make
sudo make install

Userland-master

To be able to install mobotware

Follow the guide under REGBOT for userland-master install

DNSMASQ

Install DNSMASQ

sudo apt install dnsmasq

allow dnsmasq to provide IP to pear-to-pear networks Edit the /etc/dnsmasq.conf and change/add the following line (for eth0)

dhcp-range=eth0,192.168.0.100,192.168.0.150,12h

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

Add the following lines at the end of /etc/dhcpcd.conf

# define static profile
profile static_eth0
static ip_address=192.168.0.2/24
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 

# 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

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

should work

Mobotware

Requires a number of packages - see Install on raspberry

ROBOBOT demo C++

This is an examplesoftware in C++ to access both raspberry camera and REGBOT, and with an example mission controlled from the raspberry.