Ke hoʻokomo nei i ka ROS ma kahi kiʻi Ubuntu IMG no ka papa hoʻokahi

Hōʻike

I kekahi lā aʻe, ʻoiai e hana ana i kaʻu thesis, ua kū wau i ka pono e hana i kahi kiʻi Ubuntu no kahi papa papa hoʻokahi me ROS i hoʻokomo ʻia (Pūnaehana Hana Lopako - ʻōnaehana hana lopako). I ka pōkole, hoʻolaʻa ka diploma i ka hoʻokele ʻana i kahi hui o nā robots. Hoʻolako ʻia nā robots me nā huila ʻelua a me ʻekolu mau ʻike. Mālama ʻia ka mea āpau mai ROS, e holo ana ma ka papa ODROID-C2.

ʻO Robot Ladybug. E kala mai no ka maikaʻi ʻole o ke kiʻi

ʻAʻohe manawa a makemake ʻole e hoʻokomo iā ROS ma kēlā me kēia lopako pākahi, a no laila ua pono ke kiʻi ʻōnaehana me ROS i hoʻokomo mua ʻia. Ma hope o ka ʻimi ʻana i ka Pūnaewele, ʻike wau i nā ala e hiki ai ke hana i kēia.
Ma keʻano laulā, hiki ke hoʻokaʻawale ʻia nā haʻina āpau i loaʻa i nā hui ma lalo.

1. Nā polokalamu e hana ana i kiʻi mai kahi ʻōnaehana mākaukau a hoʻonohonoho ʻia (ʻO Distroshare Ubuntu Imager, linux live kit, linux respin, systemback, etc.)
2. Nā papahana e ʻae iā ʻoe e hana i kāu kiʻi ponoʻī (yocto, linux mai ka wā kahiko)
3. ʻO ka hōʻuluʻulu ʻana i ke kiʻi iā ʻoe iho (hoʻoponopono CD ola и ʻO Russian likehoʻohui ʻatikala ma Habré)

ʻO ka hoʻohana ʻana i nā hoʻonā mai ka hui mua ʻo ia ka mea maʻalahi a maikaʻi loa, akā ʻaʻole hiki iaʻu ke hana i kahi kiʻi ʻōnaehana ola no ODROID. ʻAʻole i kūpono nā hoʻonā o ka hui ʻelua iaʻu ma muli o ka paepae komo kiʻekiʻe. ʻAʻole kūpono ka hui manual e like me nā kumu aʻo i loaʻa, no ka mea ... ʻAʻole i loaʻa i kaʻu kiʻi kahi ʻōnaehana faila paʻa.
ʻO ka hopena, ua loaʻa iaʻu kahi wikiō e pili ana i ka chroot (chroot - hoʻololi i ke kumu, loulou i ka wikiō ma ka hope o ka pou) a me kona mau mea hiki, ua hoʻoholo ʻia e hoʻohana. Ma hope aʻe, e wehewehe wau i kaʻu hihia kūikawā o ka hana maʻamau ʻo Ubuntu no nā mea hoʻomohala robotics.

ʻIke mua:

• ʻO ke kaʻina hana hoʻololi kiʻi holoʻokoʻa (koe wale no ke kākau ʻana i ke kāleka SD me ka balenaEtcher) i hana ʻia ma ka ʻōnaehana hana ʻo Ubuntu 18.04.
• ʻO ka ʻōnaehana hana nona ka hui aʻu i hoʻololi ai ʻo ia ʻo Ubuntu 18.04.3 mate desktop version.
• ʻO ka mīkini kahi e hana ai ka ʻōnaehana i hui ʻia ʻo ODROID-C2.

Hoʻomākaukau i ke kiʻi

1. Hoʻoiho i ke kiʻi Ubuntu no ODROID mai kūhelu paena

2. Wehe i ka waihona

   unxz –kv <файл архива с образом>

3. E hana i papa kuhikuhi kahi e kau ai mākou i ke kiʻi

   mkdir mnt

4. E hoʻoholo i ka ʻāpana kahi i loaʻa ai ka ʻōnaehana faila

   file <файл образа>

   Ke ʻimi nei mākou i kahi ʻāpana me kahi ʻōnaehana faila ma ext2, ext3 a ext4 format. Pono mākou i ka helu wahi o ka hoʻomaka o ka ʻāpana (i hōʻike ʻia i ka ʻulaʻula ma ka pale):

   
   
   Nānā: Hiki ke ʻike ʻia kahi o ka ʻōnaehana faila me ka hoʻohana ʻana i ka pono hoʻokaʻawale.

5. Ke kau ʻana i ke kiʻi

   sudo mount -o loop,offset=$((264192*512)) <файл с образом> mnt/

   Hoʻomaka ka ʻāpana e pono ai mākou me ka poloka 264192 (ʻokoʻa paha kāu mau helu), ʻo ka nui o hoʻokahi poloka he 512 bytes, e hoʻonui iā lākou no ka loaʻa ʻana o ka indentation ma nā paita.

6. E hele i ka waihona me ka ʻōnaehana i kau ʻia a kau i loko

   cd mnt/
   sudo chroot ~/livecd/mnt/ bin/sh

   ~/livecd/mnt - ala piha i ka papa kuhikuhi me ka ʻōnaehana kau ʻia
   bin/sh - shell (hiki ke hoʻololi ʻia me bin/bash)
   I kēia manawa hiki iā ʻoe ke hoʻomaka e hoʻokomo i nā pūʻolo pono a me nā noi.

Ke hoʻokomo nei iā ROS

Ua hoʻokomo wau i ka mana hou o ROS (ROS Melodic) e like me aʻo kūhelu.

1. Hoʻohou i ka papa inoa o nā pūʻolo

   sudo apt-get update

   ʻO kēia kahi i loaʻa iaʻu ka hewa:

   Err:6 http://deb.odroid.in/c2 bionic InRelease
   The following signatures were invalid: EXPKEYSIG 5360FB9DAB19BAC9 Mauro Ribeiro (mdrjr) <[email protected]>

   Ma muli o ka pau ʻana o ke kī hōʻailona pūʻolo. No ka hōʻano hou i nā kī, ʻano:

   sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys AB19BAC9

2. Hoʻomākaukau i ka ʻōnaehana no ka hoʻokomo ʻana iā ROS

   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://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

   sudo apt update

3. Ke hoʻokomo nei iā ROS
   ʻO ka mea pōʻino, ʻaʻole hiki iaʻu ke hoʻokomo i ka mana papapihi o ROS, no laila ua hoʻokomo wau i nā pūʻulu kumu wale nō:

   sudo apt install ros-melodic-ros-base
   apt search ros-melodic

   Hoʻomaopopo 1. I ka wā o ka hoʻouka ʻana i kekahi manawa, ua hewa kekahi:

   dpkg: error: failed to write status database record about 'iputils-ping' to '/var/lib/dpkg/status': No space left on device

   Ua hoʻopaʻa ʻia ma ka holoi ʻana i ka cache me ka hoʻohana ʻana i ka pono pono:

   sudo apt-get clean; sudo apt-get autoclean

   Hoʻomaopopo 2. Ma hope o ka hoʻouka ʻana, kumu e hoʻohana ana i ke kauoha:

   source /opt/ros/melodic/setup.bash

   ʻaʻole e hana, no ka mea ʻAʻole mākou i holo i ka bash, no laila ʻaʻole pono e paʻi ʻia i ka pahu.

4. Ke kau ʻana i nā mea hilinaʻi pono

   sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

   sudo apt install python-rosdep

   sudo rosdep init
   rosdep update

5. Hoʻonohonoho i nā kuleana komo
   Ma muli o ko mākou komo ʻana a, ʻoiaʻiʻo, e hana i nā hana āpau ma ka inoa o ke kumu o ka ʻōnaehana i ʻākoakoa ʻia, e hoʻomaka wale ʻia ʻo ROS me nā kuleana superuser.
   Ke hoʻāʻo nei e holo i ka roscore me ka ʻole sudo, loaʻa kahi hewa:

   Traceback (most recent call last): File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 230, in main write_pid_file(options.pid_fn, options.core, options.port) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 106, in write_pid_file with open(pid_fn, "w") as f: IOError: [Errno 13] Permission denied: '/home/user/.ros/roscore-11311.pid'

   No ka pale ʻana i ka hewa, e hoʻololi hou i nā kuleana komo i ka papa kuhikuhi home o ka mea hoʻohana ROS. No ka hana ʻana i kēia, kā mākou:

   sudo rosdep fix-permissions

6. Hoʻokomo hou i nā pūʻolo rviz a me rqt

   sudo apt-get install ros-melodic-rqt ros-melodic-rviz

Nā pā hope

1. Haʻalele chroot:

   exit

2. Wehe i ke kiʻi

   cd ..
   sudo umount mnt/

3. E hoʻopili kākou i ke kiʻi ʻōnaehana i loko o kahi waihona

   xz –ckv1 <файл образа>

ʻO nā mea a pau! I kēia manawa me ke kōkua huhui hiki iā ʻoe ke puhi i ke kiʻi ʻōnaehana i kahi kāleka SD, e hoʻokomo i loko o ODROID-C2, a e hoʻokomo ʻia ʻo Ubuntu me ROS!

Nā Manaʻo:

• Ua kōkua nui kēia wikiō pehea e hoʻopunipuni ai ma Linux a no ke aha ʻoe e pono ai:

Source: www.habr.com