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8.5.2021
--------
ROS 2 migrato definitivo
info sites:
https://docs.ros.org/en/foxy/Tutorials/Configuring-ROS2-Environment.html
TWIST ROBOT JOYSTICK:
sudo apt install ros-foxy-teleop-twist-joy
sudo apt install ros-foxy-teleop-twist-keyboard
MODIFICHE PYCHARM:
https://wiki.ros.org/IDEs#Plugins-1
TODO trasformare in action
TODO test on board
25.4.2021
---------
TODO test pan tilt coroutines, disabilita l asse se 90 t0 --> 90 t1
rospy classico non supporta gli async/await
quindi ce da installare aiorospy:
sudo -H apt-get install -y virtualenv
https://github.com/locusrobotics/aiorospy.git
https://github.com/locusrobotics/catkin_virtualenv.git
TODO collegare yoy stick alla camera
TODO collegare imu + calibrazione
7.3.2021
--------
TODO attivare diffential drive
TODO pan_tilt a posizioni on/off all'accensione con un controller di velocita / posizione standard
UPDATES:
rosdep install -y --from-paths src --ignore-src --rosdistro noetic -r --os=debian:buster
NFS SHARE:
sudo mount -vvvv rosrobot:/home/pi/workspace-ros1/src/robot-to-onboard /home/aldebaran/workspace-ros1/src/robot-to-onboard/nfs_share
pi@rosrobot:~ $ rostopic list -v
Published topics:
* /rosout [rosgraph_msgs/Log] 3 publishers
* /rosout_agg [rosgraph_msgs/Log] 1 publisher
* /extended_fix [gps_common/GPSFix] 1 publisher
* /fix [sensor_msgs/NavSatFix] 1 publisher
* /diagnostics [diagnostic_msgs/DiagnosticArray] 1 publisher
* /sensehat/humidity [std_msgs/Float64] 1 publisher
* /sensehat/temperature [std_msgs/Float64] 1 publisher
* /sensehat/pressure [std_msgs/Float64] 1 publisher
* /sensehat/accelerometer [geometry_msgs/Vector3] 1 publisher
* /sensehat/gyroscope [geometry_msgs/Vector3] 1 publisher
* /sensehat/magnetometer [geometry_msgs/Vector3] 1 publisher
* /sensehat/compass [std_msgs/Float64] 1 publisher
* /sensehat/stick [std_msgs/String] 1 publisher
* /base/btn_shutdown_cb [std_msgs/Bool] 1 publisher
* /base/btn_emergency [std_msgs/Bool] 1 publisher
* /base/pir_n [std_msgs/Bool] 1 publisher
* /base/pir_se [std_msgs/Bool] 1 publisher
* /base/pir_sw [std_msgs/Bool] 1 publisher
* /base/lwheel [std_msgs/Int16] 1 publisher
* /base/rwheel [std_msgs/Int16] 1 publisher
Subscribed topics:
* /rosout [rosgraph_msgs/Log] 1 subscriber
* /sensehat/led_panel [std_msgs/String] 1 subscriber
* /base/wheel_lv [std_msgs/Int16] 1 subscriber
* /base/wheel_rv [std_msgs/Int16] 1 subscriber
* /base/status_led [std_msgs/Bool] 1 subscriber
* /base/cam_light_led [std_msgs/Bool] 1 subscriber
* /base/cam_ir_led [std_msgs/Bool] 1 subscriber
* /base/cam_pan [std_msgs/Int16] 1 subscriber
* /base/cam_tilt [std_msgs/Int16] 1 subscriber
* /base/buzzer [std_msgs/Bool] 1 subscriber
* /base/strip_led [std_msgs/ColorRGBA] 1 subscriber
TEST:
roswtf
sites: https://wiki.ros.org/ROS/Troubleshooting
SERVICES:
sudo systemctl daemon-reload
sudo systemctl status robo-to.service
sudo systemctl start robo-to.service
sudo systemctl stop robo-to.service
sudo systemctl enable robo-to.service
sudo systemctl disable robo-to.service
28.8.2018
---------
INSTALL KINETIC KAME:
installare python anaconda 2.7
#
conda create -n ros-env python=2.7
conda activate ros-env
- oppure:
source activate ros-env
#
sites:
http://wiki.ros.org/kinetic/Installation/Ubuntu
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt update
sudo apt install ros-kinetic-desktop-full
sudo apt install ros-kinetic-moveit
inoltre:
pip install rospkg
pip install defusedxml
pip install pyyaml
sudo apt install ros-kinetic-joystick-drivers
sudo apt install ros-kinetic-rosserial
sudo apt install ros-kinetic-rosserial-arduino
sudo apt install ros-kinetic-husky-simulator
sudo apt install ros-kinetic-turtlebot3*
sudo apt install ros-kinetic-ros-controllers <--- diff drive
sudo apt install ros-kinetic-ros-control <---
sudo apt install ros-kinetic-rqt-controller-manager
sudo apt install ros-kinetic-gpsd-client
sudo apt install ros-kinetic-gps-umd
sudo apt install ros-kinetic-robot-upstart <---------- at boot
Attenzione tra python2 e python3.
USARE SOLO PYTHON 2.7
NETWORK CONFIGURATIONS:
http://wiki.ros.org/ROS/NetworkSetup
CLEANFLIGHT-CONFIGURATOR:
cd ~/drone-tools/software/cleanflight-configurator
git reset --hard
git pull
npm start
/home/antonio/drone-tools/software/cleanflight-configurator/debug/cleanflight-configurator/linux64/cleanflight-configurator
EXTRA:
pip install rosinstall
sudo apt install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers
sites: https://github.com/ros/genmsg/issues/63
pip uninstall em
pip install empy
sites: https://stackoverflow.com/questions/36190757/numpy-undefined-symbol-pyfpe-jbuf
pip uninstall numpy
conda install numpy
conda install pyqt <--- importante
ROS_LIB ARDUINO:
conda activate ros-env
cd /home/antonio/Arduino/libraries
rosrun rosserial_arduino make_libraries.py /home/antonio/Arduino/libraries
sites:
https://answers.ros.org/question/96811/rosnode_handleh-no-such-file-error-in-arduino-hellow-world-tutorial/
http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup
MSP PROTOCOL CLEANFLIGHT:
https://github.com/alduxvm/pyMultiWii
http://www.multiwii.com/wiki/index.php?title=Multiwii_Serial_Protocol
URDF CHECKER UPDATED:
check_urdf urdf/robot1.urdf
PER RASPBERRY SEGUIRE:
va compilato a mano
http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
DA PROVE CON ROSERIAL ARDUINO FARE ANCHE:
pip install netifaces
15.10.2018
----------
avvio con roslaunch in ambiente PC:
conda activate ros-env <-- attivazione amiente python3
rospack list-names <-- lista packages visibili
roscd uollibot_base <-- directory base del paccketto
roslaunch uollibot_base start_base.launch <-- lancio applicativo in seriale + roscore in automatico
avvio con roslaunch in ambiente RPI via wlan0 (wifi):
con /etc/hosts contenente:
rosrobot 192.168.147.85
export ROS_HOSTNAME=rosrobot
export ROS_MASTER_URI=http://rosrobot:11311
ssh pi@rosrobot
roslaunch uollibot_base start_base.launch
23.11.2018
----------
GPS su linux:
cgps -s
xgps
gpsd -D 5 -N -n /dev/ttyUSB0
sudo apt install xgps gpsd gpsd-clients
service gpsd status
service gpsd start
service gpsd stop
man gpsd
gpsmon
siti:
https://github.com/swri-robotics/gps_umd
https://learn.adafruit.com/adafruit-ultimate-gps-on-the-raspberry-pi/setting-everything-up
https://github.com/wadda/gps3
https://stackoverflow.com/questions/28882193/using-gps-library-in-python-3
https://wiki.ubuntu-it.org/Hardware/DispositiviSenzaFili/GPS
http://www.catb.org/gpsd/installation.html
https://manurevah.com/blah/en/p/gps-on-linux
seguire per l'installazione:
http://www.catb.org/gpsd/installation.html
porte disponibili:
/dev/ttyACM0 GPS @ USB RPI <--- OK con 9600 fare: stty -F /dev/ttyACM1 ispeed 9600 && cat </dev/ttyACM1
/dev/ttyACM1 BASE IO BOARD @ USB RPI < arduino due programming port
/dev/ttyAMA0
/dev/ttyUSB0 NAZE BOARD @ USB RPI
la configurazione:
/etc/default/gpsd
/lib/systemd/system/gpsd.service
PER INSTALLARE IN ROS RASPBERRY IL NODO GPS:
SEGUIRE:
http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
FARE:
cd ~/catkin_ws
rosinstall_generator gps_umd --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall
IN REMOTO FARE:
rostopic list
rostopic echo /fix <-- uscita gps
ROBOT LOCALIZAZION SENSOR FUSION:
sudo apt install libeigen3-dev libyaml-cpp-dev
SEGUIRE:
http://docs.ros.org/kinetic/api/robot_localization/html/index.html
FARE:
sudo apt install ros-kinetic-robot-localization <-- su x86_64
altrimenti ricompilare su ARM
FARE IN ARM RPI:
cd ~/workspace-ros/catkin_ws
https://github.com/clearpathrobotics/robot_upstart.git
wstool merge -t src kinetic-custom_ros.rosinstall
wstool update -t src
rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:stretch
sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j1
---https://github.com/clearpathrobotics/robot_upstart.git
-----------------------------------------------------------------------------------------------------------------------
2.11.2018
---------
PIANO B PER INSTALLARE robot_upstart o altro package IN-TREE:
rosinstall_generator robot_upstart --rosdistro kinetic --deps --wet-only --tar > kinetic-robot_upstart-wet.rosinstall
wstool merge -t src kinetic-custom_ros.rosinstall
wstool merge -t src kinetic-robot_upstart-wet.rosinstall
wstool merge -t src kinetic-ros_comm-wet.rosinstall
wstool update -t src
rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:stretch
sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j1
-----------------------------------------------------------------------------------------------------------------------
CLEANFLIGH NAZE 32 MAGNETOMETER:
https://github.com/cleanflight/cleanflight/blob/master/docs/development/Building%20in%20Ubuntu.md
https://horaciobouzas.com/
CLEANFLIGHT-CONFIGURATOR BATTERY SENSOR:
impostare scala=67, divisore=1, moltiplicatore=4
tens minima di cella=3V3
tens massima di cella=4V3
tens avviso=3V5
python library:
https://github.com/ke4ukz/PyMSP/wiki
RPI SENSE HAT:
https://pythonhosted.org/sense-hat/
ROS PY TREE:
sudo apt install ros-kinetic-py-trees
sites:
https://py-trees.readthedocs.io/en/devel/behaviours.html
http://docs.ros.org/kinetic/api/py_trees_ros/html/about.html
ROS UPSTART:
https://github.com/clearpathrobotics/robot_upstart
http://docs.ros.org/jade/api/robot_upstart/html/
fare:
rosrun robot_upstart install uollibot_base/launch/start_base.launch
sudo apt-get install ros-kinetic-rqt
TENERE AGGIORNATO IL PYTHONPATH:
https://github.com/clearpathrobotics/robot_upstart/issues/32
PICAM:
https://picamera.readthedocs.io/en/release-1.10/recipes1.html
raspivid -o - -t 0 -n -hf -vf -w 1920 -h 1080 | cvlc -vvv stream:///dev/stdin --sout '#standard{access=http,mux=ts,dst=:8160}' :demux=h264
BLUE DOT:
telecomando raspberry da app cellulare
13.12.2018
----------
ros_sensehat installato
14.12.2018
----------
MONIT MONITOR LINUX:
sudo apt install monit
https://stackoverflow.com/questions/13175331/make-failure-installing-monit-on-linux-ec2
https://mmonit.com/monit/documentation/monit.html#PAM
https://fak3r.com/2010/04/10/howto-use-monit-to-monitor-sites-and-alert-users/
https://exygy.com/automatically-restart-your-server-with-monit/
IN /etc/monit/conf-enabled INSERIRE ping contenente:
check host google address www.google.it
if failed url http://www.google.it
with timeout 20 seconds for 5 cycles
then restart
if 3 restarts within 5 cycles then timeout
e fare:
sudo monit -t
sudo monit reload
LA CONFIGURAZIONE E IN:
sudo nano /etc/monit/monitrc
IL LOG E IN:
more /var/log/monit.log
impostare 120 con un ritardo di 240
31.12.2018
----------
JOYSTICK:
sudo apt install ros-kinetic-joy
e dopo le configurazioni in rosparam
rosparam set joy_node/dev "/dev/input/js0"
rosrun joy joy_node
sul destinazione fare:
rostopic echo /joy
sul file /etc/hosts/ di tutti i nodi impostare i nomi simbolici
3.12.2018
---------
1008 03/12/18 19:40:19 sudo apt install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
1009 03/12/18 19:40:42 pip install -U rosdep rosinstall_generator wstool rosinstall
1010 03/12/18 19:41:02 pip install --upgrade setuptools
1011 03/12/18 19:41:31 rosdep init
1012 03/12/18 19:41:40 sudo rosdep init
1013 03/12/18 19:42:04 more /etc/ros/rosdep/sources.list.d/20-default.list
1014 03/12/18 19:42:40 sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
1015 03/12/18 19:42:49 sudo rosdep init
1016 03/12/18 19:42:54 more /etc/ros/rosdep/sources.list.d/20-default.list
1017 03/12/18 19:43:07 rosdep update
1018 03/12/18 19:44:02 mkdir ~/ros_catkin_ws
1019 03/12/18 19:44:11 cd ~/ros_catkin_ws
1020 03/12/18 19:44:12 ll
1021 03/12/18 19:44:33 rosinstall_generator desktop_full --rosdistro kinetic --deps --wet-only --tar > kinetic-desktop-full-wet.rosinstall
1022 03/12/18 19:44:52 ll
1023 03/12/18 19:44:57 more kinetic-desktop-full-wet.rosinstall
1024 03/12/18 19:45:27 wstool init src kinetic-desktop-full-wet.rosinstall
1025 03/12/18 19:55:22 rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
1026 03/12/18 19:56:21 ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
1027 03/12/18 19:57:33 wstool init src kinetic-desktop-full-wet.rosinstall
1028 03/12/18 19:57:37 ll
1029 03/12/18 19:57:42 ll src/
1030 03/12/18 19:58:20 rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
1031 03/12/18 19:59:36 ll /etc/ros/rosdep
1032 03/12/18 19:59:50 ll /etc/ros
1033 03/12/18 20:00:14 sudo rm -rf /etc/ros/rosdep
1034 03/12/18 20:00:19 ll /etc/ros
1035 03/12/18 20:00:33 sudo rosdep init
1036 03/12/18 20:00:45 rosdep update
1037 03/12/18 20:01:42 rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
1038 03/12/18 20:03:05 lsb_release -a
1039 03/12/18 20:03:36 rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y --os=ubuntu:xenial