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Te whakauru i te ROS ki tetahi ahua Ubuntu IMG mo te poari kotahi

Whakataki

I tetahi atu ra, i a au e mahi ana i taku tuhinga whakapae, i pa ki a au te hiahia ki te hanga i tetahi ahua Ubuntu mo tetahi papa-papa kotahi me te ROS kua whakauruhia (Pūnaha Whakahaere Robot - Pūnaha whakahaere karetao). I roto i te poto, ko te tohu tohu kua whakatapua ki te whakahaere i tetahi roopu robots. Ko nga karetao he mea rite ki nga wira e rua me nga kaitoro awhi e toru. Ko nga mea katoa e whakahaerehia ana mai i te ROS, e rere ana i runga i te papa ODROID-C2.

Te whakauru i te ROS ki tetahi ahua Ubuntu IMG mo te poari kotahi
Robot Ladybug. Aroha mai mo te ahua kino o te whakaahua

Karekau he wa, karekau he hiahia ki te whakauru i te ROS ki ia karetao takitahi, na reira me hiahia te ahua o te punaha me te ROS kua whakauruhia. I muri i taku tirotiro i te Ipurangi, he maha nga huarahi ka kitea e au me pehea e taea ai tenei.
I te nuinga o te waa, ko nga otinga katoa ka kitea ka taea te wehewehe ki nga roopu e whai ake nei.

  1. Papatono ka waihanga whakaahua mai i te punaha kua oti te hanga me te whirihora (Distroshare Ubuntu Imager, kete ora linux, linux respin, systemback, etc.)
  2. Kaupapa e taea ai e koe te hanga i to ake ahua (yocto, linux mai i te wahanga)
  3. Ko koe te whakaemi i te ahua (whakaritenga CD ora и Ruhia ritetāpiri tuhinga mo Habré)

Ko te whakamahi i nga otinga mai i te roopu tuatahi te ahua ngawari me te tino ataahua, engari kaore au i kaha ki te hanga i tetahi ahua punaha ora mo ODROID. Ko nga otinga o te roopu tuarua kaore i pai ki a au na te mea he tiketike te paepae urunga. Ko te huihuinga a-ringa e ai ki nga akoranga e waatea ana kaore i pai, na te mea ... Ko taku ahua kaore he punaha konae konae.
Ko te mutunga, ka kite ahau i tetahi ataata mo te chroot (chroot - huri pakiaka, hono ki te ataata i te mutunga o te pou) me ona kaha, i whakatauhia kia whakamahia. I muri mai, ka whakaahuahia e au taku keehi mo te whakarite i te Ubuntu mo nga kaihanga robotics.

Raraunga tuatahi:

  • Ko te tukanga whakarereke whakaahua katoa (haunga te tuhi ki te kaari SD ma te whakamahi i te balenaEtcher) i mahia i runga i te punaha whakahaere Ubuntu 18.04.
  • Ko te punaha whakahaere i whakarerekehia e au ko te putanga papamahi mate Ubuntu 18.04.3.
  • Ko te miihini e mahi ai te punaha huihui ko ODROID-C2.

Te whakarite i te ahua

  1. Tangohia te ahua Ubuntu mo ODROID mai pae mōhiohio

  2. Te wetewete i te puranga

    unxz –kv <файл архива с образом>

  3. Waihangahia he whaiaronga ka whakairihia e matou te ahua

    mkdir mnt

  4. Whakatauhia te wehewehenga kei reira te punaha konae

    file <файл образа>

    E rapu ana matou i tetahi wehewehenga me te punaha konae kei te whakatakotoranga ext2, ext3, ext4 ranei. Kei te hiahia matou ki te wahitau o te timatanga o te waahanga (kua tohua ki te whero i runga i te mata):

    Te whakauru i te ROS ki tetahi ahua Ubuntu IMG mo te poari kotahi

    Tuhipoka. Ka taea hoki te tiro i te waahi o te punaha konae ma te whakamahi i te whaipainga wehe.

  5. Te whakairi i te ahua

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

    Ko te waahanga e hiahiatia ana ka timata ki te poraka 264192 (he rereke pea o tau), ko te rahi o tetahi poraka ko te 512 paita, whakareatia kia whiwhi te nuku ki nga paita.

  6. Haere ki te kōpaki me te punaha kua whakairihia ka whakairihia ki roto

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

    ~/livecd/mnt — ara katoa ki te whaiaronga me te punaha kua whakauruhia
    bin/sh - anga (ka taea hoki te whakakapi ki te bin/bash)
    Ka taea e koe te timata ki te whakauru i nga kohinga me nga tono e tika ana.

Tāuta ROS

I whakauruhia e ahau te putanga hou o ROS (ROS Melodic) e ai ki akoranga mana.

  1. Te whakahōu i te rārangi mōkihi

    sudo apt-get update

    Koinei te wahi i hapa ai ahau:

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

    Ko tenei na te mea kua pau te kii hainatanga mokete. Hei whakahōu i ngā kī, pato:

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

  2. Te whakarite i te punaha mo te whakauru i te 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. Tāuta ROS
    Heoi ano, kaore i taea e au te whakauru i te putanga papamahi o ROS, no reira i whakauruhia e au nga kohinga taketake anake:

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

    Tuhipoka 1 I te wa o te whakaurunga i etahi wa ka puta he hapa:

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

    I whakatikahia ma te whakakore i te keteroki ma te whakamahi i te whaipainga apt:

    sudo apt-get clean; sudo apt-get autoclean

    Tuhipoka 2 Whai muri i te whakaurunga, puna ma te whakamahi i te whakahau:

    source /opt/ros/melodic/setup.bash

    e kore e mahi, no te mea Kaore matou i whakahaere i te bash, no reira KAORE me pato ki te tauranga.

  4. Te whakauru i nga whakawhirinaki e tika ana

    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. Te whakarite motika uru
    I te mea kua takiuru matou, me te mahi i nga mahi katoa mo te putake o te punaha e whakahiato ana, ka whakarewahia a ROS me nga mana kaiwhakamahi super.
    I te wa e ngana ana ki te whakahaere roscore me te kore sudo, ka puta he hapa:

    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'

    Kia kore ai e puta te hapa, me huri ano tatou i nga motika uru ki te raarangi kaainga a te kaiwhakamahi ROS. Hei mahi i tenei ka patohia e matou:

    sudo rosdep fix-permissions

  6. Te whakaurunga atu o nga kete rviz me te rqt

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

Nga pa whakamutunga

  1. Putaatu chroot: 
    exit
  2. Wewetehia te atahanga 
    cd ..
sudo umount mnt/
  3. Kia kohia te ahua o te punaha ki roto i te puranga 
    xz –ckv1 <файл образа>

Katoa! Inaianei me te awhina balenaPukapuka ka taea e koe te tahu i te ahua o te punaha ki te kaari SD, whakauruhia ki ODROID-C2, ka whakauruhia e koe a Ubuntu me ROS!

He Tohutoro:

  • I tino awhina tenei ataata me pehea te tinihanga i te Linux me te aha e hiahia ana koe:



Source: will.com

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