Full installation instructions

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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).

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/,

or get the file from sourceforge with no GUI, with:

wget --no-check-certificate -O raspicam-0.1.4.zip https://downloads.sourceforge.net/project/raspicam/raspicam-0.1.4.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-0.1.3.zip
cd raspicam-0.1.3
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 to startup configuration

export CMAKE_PREFIX_PATH=/usr/local/lib

(needs a re-logon to be activated)

Userland-master

To be able to install mobotware (not used pt on robobot)

Follow the guide under REGBOT for userland-master install - Install on raspberry

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 (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 to have a fall back behaviour for eth0 and eth1.

# 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 

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

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.

Get the robobot software from the svn repository:

svn checkout svn://repos.gbar.dtu.dk/jcan/regbot/mission mission

To be able to compile the demo software CMAKE needs also to use the user installed library (raspicam installed above), so add the following line to ~/.bashrc:

export CMAKE_PREFIX_PATH=/usr/local/lib

Then build Makefiles and compile:

cd mission
cd build
cmake ..
make

Then test-run the application:

./mission

It should print that the camera is open and connected to robot (bidge).

USB as SOCKET for REGBOT client

This is not compatible with use of ROBOBOT_BRIDGE, so don't ise it here

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:

sudo apt install socat

Add the following line to /etc/rc.local

socat TCP-LISTEN:24001,fork,reuseaddr FILE:/dev/ttyACM0,raw,echo=0 &

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.

Works after a reboot, or the same line on the command prompt.

This is good for configuring the REGBOT (in REGBOT client connect wifi to IP of robot, e.g. 192.168.0.2).

Share files from windows

On the windows computer install "winscp" and use it to copy files to and from the raspberry disk as needed.

Share files on Linux

On the 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"