Install on raspberry
Short note on installation of (parts of) mobotware on Raspberry Pi (or Beagle-bone)
Contents
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Hardware schematics
Power and IO connections on version B+ can be found here: https://www.raspberrypi.org/documentation/hardware/raspberrypi/schematics/Raspberry-Pi-B-Plus-V1.2-Schematics.pdf
Prerequisite
Raspberry pi - version 3 or 4 SD-card preferably at least 16Gb Monitor with HDMI (version 3) or micro HDMI (version 4) cable Access to network (wired or wifi)
Make SD card a FAT32 partision, if not already
see http://qdosmsq.dunbar-it.co.uk/blog/2013/06/noobs-for-raspberry-pi/ for instruction to prepare any old or new SD-card
add boot-files to SD card
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)
Reboot
That is all, Raspberry should boot on that.
or see instructions on e.g.: https://www.raspberrypi.org/help/noobs-setup/
Boot the raspberry and install the DEBIAN Linux.
Assuming DEBIAN is up and running - with internet access:
Configure
Raspberry
use raspi-config, start a terminal:
sudo raspi-config
Using raspi-config
Expand Filesystem (if not OK already) Set keyboard layout Enable Camera Set hostname Enable SSH Enable i2c - load module as default 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)
Beagle bone
login as root (no password)
After installing a boot-image on a microsd-card with debian, follow the instaructions to expand the boot image to use the full sd-card, as described in: http://elinux.org/Beagleboard:Expanding_File_System_Partition_On_A_microSD
Update operating system
Ensure you have internet access, then
sudo apt-get update sudo apt-get dist-upgrade sudo reboot
Login
login as pi, password raspberry - password may have changed
or on beaglebone as root (no password)
add a user called local
sudo adduser local sudo usermod -a --groups adm,cdrom,sudo,audio,video,plugdev,games,users,netdev,input,spi,gpio,i2c,dialout local
switch user to local, and ensure groups are OK, and network is running
su - local groups ifconfig
Note the inet address.
Now it is possible to login (as local) from network.
Get access using hostname
You may change the hostname by changing the name in /etc/hostname. If you do so, then you should probably restart before the new hostname works.
Now from another PC on the local network
ping hostname.local
where "hostname" is replaced with the hostname in /etc/hostname.
Get filesystem on normal Linux PC
From another (Linux) PC, mount the raspberry filesystem
mkdir rpi (where the filesystem will be mounted) sshfs local@10.59.8.141: rpi (replace IP number with inet address from above, or use sshfs local@hostnale.local: rpi)
Then in directory rpi the user files on the raspberry can be manipulated.
for other access, use (with IP address as found above, or IP replaced with hostname.local)
ssh -X local@10.59.8.141
Packages needed
sudo apt install cmake sudo apt install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev libgtk2.0-dev sudo apt install libatlas-base-dev gfortran alsa-tools jackd1 sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev subversion libreadline-dev htpdate aptitude # video for linux had some error, maybe this will help cd /usr/include/linux sudo ln -s -f ../libv4l1-videodev.h videodev.h # opencv # sudo apt install libopencv-dev (sorry, installs opencv 2.4 (jan 2020), with no ArUco code support)
NB! Stop here if you install ROBOBOT
Opencv
As of June 2019 opencv 3.2 is installed using line above - NO, it is back to 2.4 on noops 3.2.1 (jan 2020/jca)
Newer version of Opencv could be installed manually if you really need functions not available in 3.2. For newer installation use
# make a directory for the opencv source cd mkdir -p git cd git # get source 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 # you will need this - if you use python - takes some minutes pip install numpy # prepare compilation cd ~/git/opencv-3.4/ mkdir build cd build cmake -D CMAKE_BUILD_TYPE=RELEASE \ -D CMAKE_INSTALL_PREFIX=/usr/local \ -D INSTALL_PYTHON_EXAMPLES=ON \ -D OPENCV_EXTRA_MODULES_PATH=~/git/opencv_contrib-3.4/modules \ -D BUILD_EXAMPLES=ON .. # 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 an hour or so make -j2 # install into /usr/local sudo make install # load environment settings sudo ldconfig
Packages needed for Mobotware RHD/MRC
Package list for RHD and MRC (paste the last line to a terminal window):
libexpat-dev (RHD) pciutils-dev (RHD) libncurses-dev (RHD) bison (MRC) libsdl-dev (MRC) telnet (MRC test) sshfs (may be a good idea to access filesystem from another PC) sudo apt-get install subversion libexpat-dev pciutils-dev libncurses-dev bison libsdl-dev telnet sshfs
Additional for AURS (e.g. camera server)
Package list - opencv removed as newer version installed above (paste the last line to a terminal window)
cmake # libopencv-dev libreadline-dev libudev-dev libusb-dev # libv4l-dev python-dev libgstreamer0.10-dev libboost-dev libboost-system-dev python-opencv (not needed, but nice) sudo apt-get install cmake libreadline-dev libudev-dev libusb-dev libgstreamer0.10-dev libboost-dev libboost-system-dev python-opencv
Python
Further python image processing install
sudo pip install Image
Mount filesystem
As an option, mount the home directory on raspberry-pi to your local PC for easy file modification.
On your PC type make a directory for the filesystem
mkdir rpi sshfs local@10.59.8.141: rpi ls rpi
with your IP address or IP replaced by hostname.local.
Unmount with
fusermount -u rpi
Mobotware
Get and unpack mobotware - see main page of this wiki for info
Either from SVN - if you have access, or from our lab-computers as a mobotware-XXX.tar.gz file, where XXX is version number.
unpack if a .gz file and make a symbolic link to "mobotware" to make this guide work.
tar -xzf mobotware-XXX.tar.gz ln -s mobotware-XXX mobotware
or, if from SVN:
svn co svn://repos.gbar.dtu.dk/jcan/mobotware mobotware
this makes a mobotware directory with all the files.
Modify makefiles
Not all parts of Mobotware runs on a raspberry, so some parts must be removed from the Makefiles:
Enter the mobotware directory
cd mobotware-XXX
main Makefile
nano -w Makefile
Change this section
APPSUBDIRS = aumat/trunk \ aurobotservers/trunk/include \ aurobotservers/trunk/libs \ mapbase/trunk \ rhd/trunk \ mrc/trunk \ hakoclient/trunk \ aurs-plugins/aumanager aurs-plugins/aumrcobst aurs-plugins/auplanner/trunk \ aurs-plugins/auzoneobst \ aurobotservers/trunk \ simulator/trunk
delete the lines
hakoclient/trunk (GUI for HAKO tractor) simulator/trunk (simulator will not run on raspberry)
so that it looks like
APPSUBDIRS = aumat/trunk \ aurobotservers/trunk/include \ aurobotservers/trunk/libs \ mapbase/trunk \ rhd/trunk \ mrc/trunk \ aurs-plugins/aumanager aurs-plugins/aumrcobst aurs-plugins/auplanner/trunk \ aurs-plugins/auzoneobst \ aurobotservers/trunk
Remember to remove the last back-slash
RHD plugins Makefile
cd rhd/trunk/plugins nano -w Makefile
In this section
PLUGINLIST := auserial gps crossbow fogyro hakocan smrdserial rflex \ rs232linesensor powercube esm slugs usbiss sf9dof \ joycontrol gdm8246 buspiratei2c buspiratead \ herkulex saberandmagenc imu gps2\ smrarm rhdlog hexakopter gbprofibus roboteq gpsSocket \ fieldsteer fielddrive fieldfrontenc \ dynamixel cruizcore simstage3
Remove
gbprofibus simstage3
server Plug-ins etc.
Some servers and plug-ins are excluded from raspberry pi (qclient, kinect and point-cloud related plug-ins) in the respective Makefiles.
Build
Build mobotware:
cd ~/mobotwareXXX make
This should now compile with warnings only
(augraphplan.h not found may appear, but try one more make, then it usually works @todo - find out why)
install
The easyest way to use Mobotware is then to install into /usr/local/smr.
This is done by
sudo make install
There will be a few error messages related to the uncompileable modules: qclient, hakoclient, simserver and libstage, this is OK.
setup path
Add the mobotware bin-directory into default PATH in /etc/profile
sudo nano -w /etc/profile
append the PATH line with :/usr/local/smr/bin two places, like:
... if [ "`id -u`" -eq 0 ]; then PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/smr/bin" else PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games:/usr/local/smr/bin" fi ...
And add mobotware AURS library path into .bashrc
nano -w ~/.bashrc
append a line like this
export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/usr/local/smr/lib"
To make this work, you have to logout and login again.
Make a Mobotware test configuration
Logout and login to ensure that the PATH settings gets implemented
Make a directory to run from
mkdir ~/live cd ~/live
Copy a robot configuration file
cp -r /usr/local/etc/mobotware/calib .
make a rhdconfig.xml file with this content (loads a joystick and log plugin only). Look in mobotware/build/config for specific versions for different robots.
<?xml version="1.0" ?> <rhd> <sheduler> <period value="12000"/> <type value="LXRT"/> </sheduler> <server> <port value="24902"/> <clients number="10" allwriters="1"/> </server> <plugins basepath="/usr/local/smr/lib/rhdplugin/"> <joycontrol enable="true" lib="libjoycontrol.so.1" critical="false" safety="1"> <joystick port="/dev/input/js0"/> <speed maxfwd="900" maxturn="900" fastBut="5" slowFactor="0.3"/> <deadband max="767" min="-767"/> <control enable="true"/> </joycontrol> <rhdlog enable="true" lib="rhdlog.so.1" critical="false" interval="1" safety="2" debug="0"> </rhdlog> </plugins> </rhd>
Test Mobotware
RHD
Hardware abstraction layer (Robot Hardware Daemon)
Start RHD
rhd
It should end saying "RHD is running"
(Stops with ctrl-C)
MRC
Mobile Robot Control.
While the RHD is running (in another terminal)
start the MRC
cd ~/live mrc
This should show a list of options
-press 5 to quit
Laser scanner server
Start laser scanner server
ulmsserver
There will be some errors as there is no laserscanner ...
Press enter a few times to get a prompt ">>"
Type
help
this should show a list of loaded plugins, like
... Available commands (from currently loaded modules): - push q server help shelp module do BASH alive quit exit - scanGet scanPush scanSet - odoPose odoPosePush - mapPose mapPosePush - utmPose utmPosePush - var varPush - poly - mapbase - settable addline setinitpose setinitcov localizeMHF localize resetlocalizer outputdist odoposeupdate resample localizeUKF ...
Try e.g.
scanget fake=3
this should show a lot of HEX numbers and a few more errors.
Press q to quit
Camera server
Copy the camera server configuration for raspberry camera (otherwise a default ucamserver.ini will be created without the raspberry plugins).
cp ~/mobotware/build/config/raspberry/ucamserver.ini .
Start the camera server - and optionally load the camera plug-in.
ucamserver
This should end with something like this
Camera_server 2.1966 (May 1 2015 13:42:21 jca@oersted.dtu.dk) - on port 24920 - type h for help, q for quit
If camera is available, then use
poollist
to se if camera is running.
Pres q to quit
Code change
Every time you recompile any module, it is not implemented until you also run
cd ~/mobotware sudo make install
To implement newly compiled modules right away, change a symbolic link:
cd /usr/local sudo rm smr sudo ln -s ~/mobotware/build smr