🥇Ke hoʻokomo nei iā ROS i loko o kahi kiʻi IMG Ubuntu no ka mea uku hoʻokahi

Hōʻike

I kekahi lā aʻe, ʻoiai wau e hana ana ma kaʻu diploma, ua kū wau i ka pono e hana i kahi kiʻi Ubuntu no kahi kamepiula papa hoʻokahi me ROS i hoʻokomo mua 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.

Nā polokalamu e hana ana i kiʻi mai kahi ʻōnaehana mākaukau a hoʻonohonoho ʻia (Kaʻana like ʻana Ubuntu Mea Kiʻi, linux live kit, linux respin, systemback, etc.)
Nā papahana e ʻae iā ʻoe e hana i kāu kiʻi ponoʻī (yocto, linux mai ka wā kahiko)
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 wikiō ma ka hopena o ka pou) a me kona mau hiki, ua hoʻoholo wau e hoʻohana. Ma lalo nei e wehewehe wau i kaʻu hihia hoʻopilikino kūikawā. Ubuntu no nā mea hoʻomohala robotics.

ʻIke mua:

Ua hana ʻia ke kaʻina holoʻokoʻa o ka hoʻololi ʻana i ke kiʻi (koe wale nō ke kākau ʻana i ke kāleka SD me ka hoʻohana ʻana iā balenaEtcher) ma ka ʻōnaehana hana. Ubuntu 18.04.
ʻO ka ʻōnaehana hana nona ka ʻākoakoa i hoʻololi ʻia - Ubuntu 18.04.3 mana pākaukau mate.
ʻO ka mīkini kahi e hana ai ka ʻōnaehana i hui ʻia ʻo ODROID-C2.

Hoʻomākaukau i ke kiʻi

Hoʻoiho i ke kiʻi Ubuntu no ODROID me kūhelu paena

Wehe i ka waihona

unxz –kv <файл архива с образом>

E hana i papa kuhikuhi kahi e kau ai mākou i ke kiʻi
```
mkdir mnt
```
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.
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.
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.

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) <mauro.ribeiro@hardkernel.com>

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

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

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.

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

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
```

Hoʻokomo hou i nā pūʻolo rviz a me rqt

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

Nā pā hope

Haʻalele chroot:
```
exit
```
Wehe i ke kiʻi
```
cd ..
sudo umount mnt/
```
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 kākau i ke kiʻi ʻōnaehana i kahi kāleka SD, e hoʻokomo iā ia i loko o ka ODROID-C2, a e loaʻa iā ʻoe Ubuntu me ROS i hoʻokomo ʻia!

Nā Manaʻo: