Ịwụnye ROS na ihe oyiyi Ubuntu IMG maka otu bọọdụ

Okwu Mmalite

N'ụbọchị nke ọzọ, mgbe m na-arụ ọrụ na edemede m, enwere m mkpa ịmepụta ihe oyiyi Ubuntu maka otu ikpo okwu na ROS arụnyere (Sistemụ arụ ọrụ robot - sistemụ arụ ọrụ robot). Na nkenke, diplọma ahụ etinyere aka na njikwa otu robots. Ndị rọbọt ndị ahụ nwere wiil abụọ na ihe nrịbama atọ. A na-achịkwa ihe niile site na ROS, nke na-agba ọsọ na bọọdụ ODROID-C2.

Robot Ladybug. Ndo maka ogo foto adịghị mma

Enweghị oge ma ọ bụ ọchịchọ ịwụnye ROS na robot nke ọ bụla n'otu n'otu, ya mere enwere mkpa maka ihe oyiyi usoro na ROS arụnyerelarị. Mgbe m chọchara ịntanetị, ahụrụ m ọtụtụ ụzọ a ga-esi mee nke a.
N'ozuzu, ihe ngwọta niile achọtara nwere ike kewaa n'ime otu ndị a.

1. Mmemme ndị na-emepụta onyonyo site na sistemụ emebere na ahaziri (Ihe nkesa Ubuntu Distroshare, linux live kit, linux respin, usoro azụ, wdg)
2. Ọrụ ndị na-enye gị ohere ịmepụta onyonyo nke gị (yocto, linux site na ọkọ)
3. Na-achịkọta ihe oyiyi ahụ n'onwe gị (nhazi CD dị ndụ и Rọshịa dakọtara, gbakwunyere akụkọ na Habré)

Iji ngwọta sitere na otu mbụ yiri ka ọ bụ nhọrọ kachasị mfe ma dị mma, mana enweghị m ike ịmepụta ihe oyiyi usoro ndụ maka ODROID. Ngwọta nke otu nke abụọ adabaghịkwa m n'ihi oke ntinye dị elu nke ọma. Mgbakọ akwụkwọ ntuziaka dị ka nkuzi dị adị adịghịkwa mma, n'ihi na... Ihe onyonyo m enweghị sistemu faịlụ abịakọrọ.
N'ihi ya, ahụrụ m vidiyo gbasara chroot (chroot - gbanwee mgbọrọgwụ, njikọ na vidiyo na njedebe nke post) na ike ya, e kpebiri iji ya. Na-esote, m ga-akọwa otu ikpe m nke ịhazi Ubuntu maka ndị mmepe robotics.

Mbụ data:

• Usoro mgbanwe onyonyo niile (ma ewezuga iji BalenaEtcher dee na kaadị SD) ka emere na sistemụ arụmọrụ Ubuntu 18.04.
• Sistemụ arụ ọrụ nke m meziri mgbakọ ya bụ Ubuntu 18.04.3 mate desktọpụ ụdị.
• Igwe eji arụ ọrụ agbakọta kwesịrị ịrụ ọrụ bụ ODROID-C2.

Na-akwado ihe onyonyo a

1. Budata onyonyo Ubuntu maka ODROID site na ukara saịtị

2. Na-ewepụ ihe ndekọ ahụ

   unxz –kv <файл архива с образом>

3. Mepụta ndekọ nke anyị ga-ebugo onyonyo a

   mkdir mnt

4. Kpebisie ike na nkebi nke usoro faịlụ dị

   file <файл образа>

   Anyị na-achọ akụkụ nwere sistemụ faịlụ na ext2, ext3 ma ọ bụ ext4. Anyị chọrọ adreesị mmalite nke ngalaba (nke a na-acha uhie uhie na ihuenyo):

   
   
   Cheta. Enwere ike ịlele ọnọdụ nke sistemụ faịlụ site na iji akụrụngwa kewapụrụ.

5. Ịkwanye ihe onyonyo a

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

   Akụkụ nke anyị chọrọ na-amalite na ngọngọ 264192 (nọmba gị nwere ike ịdị iche), nha nke otu ngọngọ bụ 512 bytes, mụbaa ha iji nweta ntinye na bytes.

6. Gaa na folda nke nwere sistemụ arụnyere ma kwụpụta n'ime ya

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

   ~/livecd/mnt - ụzọ zuru oke na ndekọ na usoro etinyere
   bin/sh - shei (nwere ike dochie ya bin/bash)
   Ugbu a ị nwere ike ịmalite ịwụnye ngwugwu na ngwa dị mkpa.

Ịwụnye ROS

M etinyere ụdị ROS kachasị ọhụrụ (ROS Melodic) dịka nkuzi nkuzi.

1. Na-emelite ndepụta ngwugwu

   sudo apt-get update

   Nke a bụ ebe m nwetara njehie:

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

   Nke a bụ n'ihi na igodo nbinye aka ngwungwu agwụla. Ka imelite igodo, pịnye:

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

2. Na-akwado usoro maka ịwụnye 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. Ịwụnye ROS
   Ọ dị nwute, enweghị m ike ịwụnye ụdị desktọpụ nke ROS, yabụ etinyere m naanị ngwugwu ndị bụ isi:

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

   Rịba ama 1. N'oge usoro ntinye mgbe ụfọdụ, njehie na-enwe:

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

   Edoziri ya site na ihichapụ cache site na iji uru dabara adaba:

   sudo apt-get clean; sudo apt-get autoclean

   Rịba ama 2. Mgbe echichi, isi mmalite na-eji iwu:

   source /opt/ros/melodic/setup.bash

   ọ gaghị arụ ọrụ, n'ihi na Anyị agbaghị bash, yabụ ọ dịghị mkpa ka etinye ya na njedebe.

4. Ịwụnye ihe ndabere dị mkpa

   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. Ịtọlite ​​ikike ịnweta
   Ebe ọ bụ na anyị banyere na, n'ezie, na-eme omume niile n'aha mgbọrọgwụ nke usoro a na-agbakọta, ROS ga-eji naanị ikike superuser malite.
   Mgbe ị na-agbalị ịgba ọsọ roscore na-enweghị sudo, njehie na-eme:

   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'

   Iji gbochie njehie ahụ ime, ka anyị gbanwee ugboro ugboro ikike ịnweta akwụkwọ ndekọ ụlọ onye ọrụ ROS. Iji mee nke a, anyị pịnye:

   sudo rosdep fix-permissions

6. Ntinye mgbakwunye nke ngwugwu rviz na rqt

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

Mmetụ ikpeazụ

1. Wepụ chroot:

   exit

2. Wepụ ihe onyonyo a

   cd ..
   sudo umount mnt/

3. Ka anyị kwakọba onyonyo sistemụ n'ime ebe nchekwa

   xz –ckv1 <файл образа>

All! Ugbu a site n'enyemaka BalenaEtcher ị nwere ike gbaa onyonyo sistemụ ọkụ na kaadị SD, tinye ya n'ime ODROID-C2, ị ga-etinyekwa Ubuntu na ROS!

Ntughari:

• Vidiyo a nyere aka nke ukwuu otu esi aghọ aghụghọ na Linux yana ihe kpatara ị jiri chọọ ya:

isi: www.habr.com