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Rosa

This repository contains the RPI code for the robot.

You will also find a minimal Python API to control the robot with a follow line example.

Installation on RPI

  1. Burn a raspbian lite IMG
  2. Setup ssh and WiFi (can be done directly on the boot partition)
  3. Setup hostname to "rosa"
  4. Enable camera (via raspi-config)
  5. Update distrib sudo apt update
  6. Add v4l2 driver for the cam echo "bcm2835-v4l2" | sudo tee /etc/modules-load.d/bcm2835-v4l2.conf
  7. Install numpy
sudo apt install -y libatlas3-base python3-pip
pip3 install numpy -i https://www.piwheels.org/simple
  1. Install opencv for python 3
wget https://github.com/opencv/opencv/archive/3.4.3.tar.gz
tar xvfz 3.4.3.tar.gz
cd opencv-3.4.3
sudo apt install -y build-essential cmake pkg-config libjpeg-dev libtiff5-dev libjasper-dev libpng12-dev libatlas-base-dev gfortran python3-dev
mkdir build
cd build
cmake -D BUILD_EXAMPLES=OFF -D BUILD_DOCS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_TESTS=OFF ..
Edit swap size in /etc/dphys-swapfile (CONF_SWAPSIZE=1024) & sudo /etc/init.d/dphys-swapfile restart
make -j4
Restore swap size in /etc/dphys-swapfile (CONF_SWAPSIZE=100) & sudo /etc/init.d/dphys-swapfile restart
sudo make install
sudo ldconfig
  1. Install python dependencies
sudo apt install -y git
pip3 install git+https://github.com/dpallot/simple-websocket-server.git
pip3 install ipython Pillow websocket-client
  1. Download and install scripts
wget https://github.com/pollen-robotics/rosa/archive/master.zip
unzip master.zip
cd rosa-master/rpi
  1. Launch video stream as service (run from rpi folder)
sudo tee /etc/systemd/system/ioservice.service > /dev/null <<EOF
[Unit]
Description=IO Stream to WS
Wants=network-online.target
After=network.target network-online.target
[Service]
PIDFile=/var/run/iostream.pid
Environment="PATH=$PATH"
ExecStart=/usr/bin/python3 "$PWD/ws_server.py"
User=pi
Group=pi
Type=simple
[Install]
WantedBy=multi-user.target
EOF
sudo systemctl enable ioservice.service
  1. Enable i2c in raspi-config
  2. Install smbus sudo apt install -y python3-smbus python3-gpiozero
  3. Install apds9960 pip3 install apds9960
  4. Reboot