Full installation instructions

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[[Install on raspberry]] first section (prerequisites).
 
[[Install on raspberry]] first section (prerequisites).
 +
 +
===Opencv 3.4===
 +
 +
It should be OK just to install libopencv-dev - in December 2020 this installs version 3.2.0
 +
 +
sudo apt install libopencv-dev
 +
 +
To find the installed version of OpenCV try
 +
 +
pkg-config --modversion opencv
 +
 +
To install newer OpenCV version 3.4  (as of Jan 2020 it is version 3.4.9)
 +
 +
cd
 +
mkdir -p git
 +
cd git
 +
# this method will install version 4.2 - that is not fully compatible (jan 2020)
 +
# git clone https://github.com/opencv/opencv.git
 +
# git clone https://github.com/opencv/opencv_contrib.git
 +
# use this to get a version compatible with opencv 3.4
 +
# get source (jan 2020)
 +
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
 +
# compile the lot, but ommit python3 support, as the compile will fail (as of jan 2020)
 +
cd opencv
 +
mkdir build
 +
cd build
 +
# create makefiles, also for all modules in the opencv_contrib (e.g. ArUco code detect)
 +
# cmake -D CMAKE_BUILD_TYPE=RELEASE -D BUILD_opencv_python3=OFF -D OPENCV_EXTRA_MODULES_PATH=~/git/opencv_contrib/modules ..
 +
cmake -D CMAKE_BUILD_TYPE=RELEASE -D BUILD_opencv_python3=OFF -D OPENCV_EXTRA_MODULES_PATH=~/git/opencv_contrib-3.4/modules ..
 +
# 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 more than an hour.
 +
# if the compilation crashes about halfway or so, it is probably due to lack of memory
 +
#    then just start the compile again, and it is likely to continue (at least for a while)
 +
make -j2
 +
# install into /usr/local
 +
sudo make install
 +
# load environment settings
 +
sudo ldconfig
  
 
===Raspicam===
 
===Raspicam===
 +
 +
NB! this should not be needed
  
 
A rather short raspberry pi camera API is available from https://www.uco.es/investiga/grupos/ava/node/40.
 
A rather short raspberry pi camera API is available from https://www.uco.es/investiga/grupos/ava/node/40.
Line 15: Line 59:
 
or get the file from sourceforge with no GUI, with:
 
or get the file from sourceforge with no GUI, with:
  
−
  wget --no-check-certificate -O raspicam-0.1.6.zip https://downloads.sourceforge.net/project/raspicam/raspicam-0.1.6.zip?r=https%3A%2F%2Fsourceforge.net%2Fprojects%2Fraspicam%2F%3Fsource%3Dtyp_redirect&ts=1486483484&use_mirror=netix
+
cd ~/Downloads
−
 
+
  wget --no-check-certificate -O raspicam-0.1.9.zip https://downloads.sourceforge.net/project/raspicam/raspicam-0.1.9.zip?r=https%3A%2F%2Fsourceforge.net%2Fprojects%2Fraspicam%2F%3Fsource%3Dtyp_redirect&ts=1486483484&use_mirror=netix
−
or part of mission files on SVN (version 0.1.6)
+
  
 
Once fetched and available on the raspberry, then
 
Once fetched and available on the raspberry, then
−
 
 
Unpack and install:
 
Unpack and install:
−
  unzip raspicam-0.1.6.zip
+
  unzip raspicam-0.1.9.zip
−
  cd raspicam-0.1.6
+
  cd raspicam-0.1.9
 
  mkdir build
 
  mkdir build
 
  cd build
 
  cd build
Line 38: Line 80:
  
 
(needs a re-logon to be activated, or repeat on the command line)
 
(needs a re-logon to be activated, or repeat on the command line)
−
 
−
===Userland-master===
 
−
 
−
-- Maybe already installed, or not needed.
 
−
 
−
To be able to install mobotware (not used pt on ROBOBOT)
 
−
 
−
Follow the guide under REGBOT for userland-master install - [[Install on raspberry]]
 
  
 
===DNSMASQ===
 
===DNSMASQ===
Line 88: Line 122:
 
===Sound===
 
===Sound===
  
−
To use the sound system install
+
====festival====
  
−
sudo apt install espeak
+
Easy understandable voice, but takes time to generate
−
sudo apt-get install sox libsox-fmt-all
+
and require two intermediate files
  
−
The first speaks english using a command like
+
sudo apt install festival
 +
echo "The brown fox jumps over lazy dog" > aaa.txt
 +
text2wave aaa.txt -o aaa.wav
 +
aplay aaa.wav
  
−
espeak -s120 -ven+f3 -a30 "This robot speaks English with a female voice and amplitude 30, at speed 120."
+
====Music files====
  
−
Code for other languages can be found at http://espeak.sourceforge.net/languages.html
+
This part works
  
−
The second line allows to play sound files, like
+
Play sound files, like
  
 +
sudo apt-get install sox libsox-fmt-all
 
  play -v0.1 music.mp3
 
  play -v0.1 music.mp3
  
−
This line plays the a mp3 file with volume reduced by a factor 0.1.
+
This line plays an mp3 file with volume reduced by a factor 0.1.
−
The at startup the blue button on the gamepad playes the file in /home/local/Music/music.mp3.<br>
+
The at startup the blue button on the gamepad plays the file in /home/local/Music/music.mp3.<br>
−
This is a symbolic link to some real music (Radetzky marsch in this case):
+
This is a symbolic link to some real music (Radetzky Marsch in this case):
  
 
  ls ~/Music
 
  ls ~/Music
Line 112: Line 150:
 
  ln -s radetzky-marsch_Schloss-Schoenbrunn-Konzerte_Wien_full-length.mp3 music.mp3
 
  ln -s radetzky-marsch_Schloss-Schoenbrunn-Konzerte_Wien_full-length.mp3 music.mp3
  
−
====Sound level====
+
===Sound level===
  
 
On a Raspberry pi version 3+ (not tested on other versions)
 
On a Raspberry pi version 3+ (not tested on other versions)
Line 132: Line 170:
 
  amixer set PCM 100% unmute
 
  amixer set PCM 100% unmute
  
−
====Regbot GUI====
+
===Regbot GUI===
  
 
To run the regbot gui on the raspberry the following package is needed
 
To run the regbot gui on the raspberry the following package is needed
  
−
sudo apt install python-pyqtgraph
+
Additional python packages used
  
−
To start the GUI
+
* python-pyqtgraph
 +
* python-qt4-gl
 +
* python-serial
 +
* python-scipy
  
−
  cd ~/regbot/qtgui
+
  sudo apt install python-pyqtgraph python-qt4-gl python-serial python-scipy
−
python regbot.py
+
  
−
Connect to network localhost or kill the bridge and connect directly to "/dev/ttyACM0" (not com5 as is the default serial connection).
 
  
−
=== ROBOBOT bridge ===
+
=====* no python-pyqtgraph =====
  
−
This software connects and combines access to REGBOT, gamepad and the small o-led display.
+
On my 14.04 32 bit ubuntu the python-pyqtgraph package was not found using apt-get, so I
  
−
Get the software - if not there already.
+
downloaded from http://www.pyqtgraph.org/
 +
the debian package ''python-pyqtgraph_0.9.10-1_all.deb'' and installed using:
  
−
  svn checkout svn://repos.gbar.dtu.dk/jcan/regbot/robobot_bridge robobot_bridge
+
  sudo dpkg -i python-pyqtgraph_0.9.10-1_all.deb
  
−
To update - if there is a newer version
+
sudo apt install python-pyqtgraph
  
−
cd ~/robobot_bridge
+
To start the GUI
−
svn up
+
  
−
Go to the build directory to build. "make" and "sudo make install" will maybe do.
+
cd ~/regbot/qtgui
 +
python regbot.py
  
−
cd ~/robobot_bridge
+
Connect to network localhost or kill the bridge and connect directly to "/dev/ttyACM0" (not com5 as is the default serial connection).
−
mkdir -p build
+
−
cd build
+
−
cmake ..
+
−
make
+
−
sudo make install
+
−
 
+
−
To make the bridge start at reboot, then add
+
−
 
+
−
sudo nano /etc/rc.local
+
−
 
+
−
add the line just before "exit 0", or everything if empty (make rc.local executable - probably is)
+
−
 
+
−
#!/bin/sh -e
+
−
#
+
−
# rc.local
+
−
#
+
−
# This script is executed at the end of each multiuser runlevel.
+
−
# Make sure that the script will "exit 0" on success or any other
+
−
# value on error.
+
−
#
+
−
# In order to enable or disable this script just change the execution
+
−
# bits.
+
−
#
+
−
# By default this script does nothing.
+
−
# Print the IP address
+
−
_IP=$(hostname -I) || true
+
−
if [ "$_IP" ]; then
+
−
  printf "My IP address is %s\n" "$_IP"
+
−
fi
+
−
# this line is needed if on DTU internal network do get decent date and time
+
−
# as this channel otherwise is blocked
+
−
htpdate -q www.linux.org www.freebsd.org
+
−
# start bridge
+
−
cd /home/local/robobot_bridge/build && ./robobot_bridge -a &
+
−
exit 0
+
−
 
+
−
The bridge may be running already, to test use pgrep
+
−
 
+
−
pgrep bridge
+
−
 
+
−
If a process number is shown, then it is running.
+
−
To stop the bridge (if not needed or changed)
+
−
 
+
−
sudo pkill bridge
+
−
 
+
−
You may then run the bridge from the console
+
−
 
+
−
cd ~/robobot_bridge/build
+
−
sudo ./robobot_bridge
+
−
 
+
−
It will then show status on the console.
+
−
 
+
−
To list the message database, then press 's' and return. For full functionality see help (h) and "help".
+
−
 
+
−
bridge >> s
+
−
Regbot bridge: regbot OK=1, Joy OK=1, Oled OK=1, socket=1 (port 24001 on thit), clients=0
+
−
#recorded 7 items:
+
−
  item 0 is  servo, upds=  0, dt=0.000s, valid=0, time=1.023s ''
+
−
                            Servo control for robot 'servo n p' n:servo, p:position.
+
−
  item 1 is    pse, upds=5077, dt=0.026s, valid=1, time=135.344s '0.00160638 -1.66499e-05 -0.020729 0.0016065 1.8485'
+
−
                            Robot pose [x [m], y [m], h [rad], tilt [rad]].
+
−
  item 2 is    hbt, upds=213, dt=0.626s, valid=1, time=135.231s '3142.04 11.8582 0 0 0 289'
+
−
                            Heartbeat [time [sec], battery voltage [V].
+
−
  item 3 is    joy, upds=  6, dt=0.000s, valid=1, time=1.101s '1 0 8 11 0 0 -32767 0 0 -32767 0 0 0 0 0 0 0 0 0 0 0 0 0'
+
−
                            0 Joystick position, running, manual override, Axis count, Button count, A1, A2 ... An, B1, B2 ... Bn
+
−
  item 4 is    rc=, upds=  0, dt=0.000s, valid=0, time=1.025s ''
+
−
                            Remote control for robot 'rc=m v t'  m:manual override, v:velocity, t:turn velocity.
+
−
  item 5 is      #, upds=  0, dt=0.000s, valid=0, time=2.026s ''
+
−
                          (no description)
+
−
  item 6 is <alive, upds=133, dt=1.002s, valid=1, time=135.192s 'last="0.00028"/>'
+
−
                          (no description)
+
−
UServerPort::printStatus: running=1, clientsCnt=0, activeCnt=0, loops=0
+
−
 
+
−
bridge >> h
+
−
Bridge between a Regbot robot and joystick and socket clients
+
−
Runs on Linux PC and raspberry (preferably in rc.local - runs here an oled display too if available).
+
−
After start console has a cmd. line with following commands:
+
−
    q: quit
+
−
    s: status of data items etc
+
−
    h: this help
+
−
    help: help for the bridge
+
−
Longer lines are send to handler as message.
+
−
 
+
−
bridge >> help
+
−
UBridge::responder: key=help get responder=3
+
−
# Robobot_bridge help:
+
−
# Commands are all single line text staring with a keyword
+
−
#    (up to 6 characters) followed by text or numbers:
+
−
# Main topics:
+
−
#    robot      Sends all rest of the line to the robot, see 'robot help' for options
+
−
#    bridge      See 'bridge help' for options
+
−
#    oled L xxx  Prints xxx (up to 20 chars) on line L (2..7) on oled
+
−
#    client      See 'client help' for options
+
−
#    q          quit
+
−
#    h          Console help
+
−
#    help        This help
+
−
# All lines starting with '#' are assumed to be comments
+
−
# All commands are stored as a data item with keyword as ID
+
−
# All data items has reserved subcommands, see:
+
−
#    item h      Help for data item 'item'
+
−
bridge >>
+
−
 
+
−
===ROBOBOT mission demo C++===
+
−
 
+
−
This is an example software 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
+
−
 
+
−
or just update if there already
+
−
 
+
−
cd ~/mission
+
−
svn up
+
−
 
+
−
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
+
−
mkdir -p build
+
−
cd build
+
−
cmake ..
+
−
make
+
−
 
+
−
Then test-run the application:
+
−
 
+
−
./mission
+
−
 
+
−
It should print that the camera is open and connected to the robot (bidge).
+
−
 
+
−
====Software structure====
+
−
 
+
−
The software is structures as shown in figure 1 below.
+
−
 
+
−
[[file:mission-software.png | 500px]]
+
−
 
+
−
Figure 1. The example mission software intended as basis for full mission control. In the main.cpp file, three objects are created: bridge (UBridge reg(127.0.0.1)), camera (UCamera cam()) and mission (UMission mission(&reg, &cam)). The bridge handles communication and stores all data from the robot and the gamepad. The camera can capture images and image processing is intended here. The mission object is intended for splitting long missions into mission snippets that the REGBOT can execute.
+
−
 
+
−
The mission class has access to robot data and the camera at all times using the pointers "bot->" and "cam->". e.g. the heading (relative to the start position) and if the yellow gamepad button is pressed, can be fetched as:
+
−
 
+
−
float heading = bot->pose->h;
+
−
bool yellowButton = bot->joy->button[3];
+
−
 
+
−
Details about the data code may be found in the upose.cpp, uinfo.cpp, ujoy.cpp, umotor.cpp ... files.
+
−
 
+
−
The sound system can be used for debugging, e.g. add a C++ line like:
+
−
 
+
−
system("espeak \"bettina reached point 3\" -ven+f4 -a30 -s130");
+
−
 
+
−
This line makes the robot say "bettina reached point 3" the parameters "-a30" turns amplitude down to 30%, "-ven+f4" sets language to english with female voice 4 and "-s130" makes the speech a little slower and easier to understand.
+
−
It requires that espeak is installed (sudo apt install espeak).
+
−
 
+
−
===USB as SOCKET for REGBOT client===
+
−
 
+
−
Skip this section - for use without robobot_bridge only.
+
−
 
+
−
This is not compatible with use of ROBOBOT_BRIDGE, so '''don't use 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).
+
  
 
== File sharing for development ==
 
== File sharing for development ==

Latest revision as of 14:55, 24 December 2020

Back to Robobot


Contents

[edit] 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).

[edit] Opencv 3.4

It should be OK just to install libopencv-dev - in December 2020 this installs version 3.2.0 

sudo apt install libopencv-dev

To find the installed version of OpenCV try 

pkg-config --modversion opencv

To install newer OpenCV version 3.4 (as of Jan 2020 it is version 3.4.9) 

cd
mkdir -p git
cd git
# this method will install version 4.2 - that is not fully compatible (jan 2020)
# git clone https://github.com/opencv/opencv.git
# git clone https://github.com/opencv/opencv_contrib.git
# use this to get a version compatible with opencv 3.4
# get source (jan 2020)
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
# compile the lot, but ommit python3 support, as the compile will fail (as of jan 2020)
cd opencv
mkdir build
cd build
# create makefiles, also for all modules in the opencv_contrib (e.g. ArUco code detect)
# cmake -D CMAKE_BUILD_TYPE=RELEASE -D BUILD_opencv_python3=OFF -D OPENCV_EXTRA_MODULES_PATH=~/git/opencv_contrib/modules ..
cmake -D CMAKE_BUILD_TYPE=RELEASE -D BUILD_opencv_python3=OFF -D OPENCV_EXTRA_MODULES_PATH=~/git/opencv_contrib-3.4/modules ..
# 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 more than an hour.
# if the compilation crashes about halfway or so, it is probably due to lack of memory
#    then just start the compile again, and it is likely to continue (at least for a while)
make -j2
# install into /usr/local
sudo make install
# load environment settings
sudo ldconfig

[edit] Raspicam

NB! this should not be needed

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: 

cd ~/Downloads
wget --no-check-certificate -O raspicam-0.1.9.zip https://downloads.sourceforge.net/project/raspicam/raspicam-0.1.9.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-0.1.9.zip
cd raspicam-0.1.9
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 startup configuration, in file ~/.bashrc 

nano ~/.bashrc
add at the end:
export CMAKE_PREFIX_PATH=/usr/local/lib

(needs a re-logon to be activated, or repeat on the command line)

[edit] 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 (a bit down, eg to serch use: ctrl-W dhcp-range)
dhcp-range=192.168.17.100,192.168.17.150,12h

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

Edit of /etc/dhcpcd.conf to have a fall back behaviour for eth0 and eth1. 

sudo nano /etc/dhcpcd.conf
Add the following lines at the end (uncomment and modify):
# define static profile
profile static_eth0
static ip_address=192.168.17.1/24
# 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@192.168.17.1

[edit] Sound

[edit] festival

Easy understandable voice, but takes time to generate and require two intermediate files 

sudo apt install festival
echo "The brown fox jumps over lazy dog" > aaa.txt
text2wave aaa.txt -o aaa.wav
aplay aaa.wav

[edit] Music files

This part works

Play sound files, like 

sudo apt-get install sox libsox-fmt-all
play -v0.1 music.mp3

This line plays an mp3 file with volume reduced by a factor 0.1. The at startup the blue button on the gamepad plays the file in /home/local/Music/music.mp3.
This is a symbolic link to some real music (Radetzky Marsch in this case): 

ls ~/Music
   radetzky-marsch_Schloss-Schoenbrunn-Konzerte_Wien_full-length.mp3
cd ~/Music
ln -s radetzky-marsch_Schloss-Schoenbrunn-Konzerte_Wien_full-length.mp3 music.mp3

[edit] Sound level

On a Raspberry pi version 3+ (not tested on other versions) 

$ amixer
 Simple mixer control 'PCM',0
   Capabilities: pvolume pvolume-joined pswitch pswitch-joined
   Playback channels: Mono
   Limits: Playback -10239 - 400
   Mono: Playback 400 [100%] [4.00dB] [on]

An thus:
Setting the sound level can be done by: 

amixer set PCM 0dB unmute

Setting to maximum (100%) is about the same as setting 4dB (may be too much for amplifier). 

amixer set PCM 100% unmute

[edit] Regbot GUI

To run the regbot gui on the raspberry the following package is needed

Additional python packages used

  • python-pyqtgraph
  • python-qt4-gl
  • python-serial
  • python-scipy 
sudo apt install python-pyqtgraph python-qt4-gl python-serial python-scipy


[edit] * no python-pyqtgraph

On my 14.04 32 bit ubuntu the python-pyqtgraph package was not found using apt-get, so I

downloaded from http://www.pyqtgraph.org/ the debian package python-pyqtgraph_0.9.10-1_all.deb and installed using: 

sudo dpkg -i python-pyqtgraph_0.9.10-1_all.deb

sudo apt install python-pyqtgraph

To start the GUI 

cd ~/regbot/qtgui
python regbot.py

Connect to network localhost or kill the bridge and connect directly to "/dev/ttyACM0" (not com5 as is the default serial connection).

[edit] File sharing for development

Mirror the local disk on the Raspberry to a PC, make all file editing here, and then on a terminal connection to the robot to compile the software.

[edit] Share files from windows

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

There are other methods too.

[edit] Share files on Linux

On a 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"

Retrieved from "http://rsewiki.elektro.dtu.dk/index.php?title=Full_installation_instructions&oldid=5213"
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