Kuisa ROS mumufananidzo weIMG Ubuntu yekubhadhara kamwe chete

Nhanganyaya

Rimwe zuva, pandaiva ndichishanda padhipuroma rangu, ndakatarisana nechido chekugadzira mufananidzo Ubuntu yekombuta ine bhodhi rimwe chete ine ROS yatoiswa kare (Robot Operating System - robhoti inoshanda sisitimu) Muchidimbu, diploma yakatsaurirwa kutarisira boka remarobhoti. Iwo marobhoti ane mavhiri maviri uye matatu rangefinders. Chinhu chose chinodzorwa kubva kuROS, iyo inomhanya paODROID-C2 board.

Robot Ladybug. Tine urombo nekusaita zvakanaka kwemifananidzo

Pakanga pasina nguva kana chishuwo chekuisa ROS parobhoti yega yega, uye saka pakanga paine kudikanwa kwemufananidzo wehurongwa neROS yatoiswa. Mushure mekubhurawuza paInternet, ndakawana nzira dzinoverengeka dzekuti izvi zvingaitwe sei.
Kazhinji, mhinduro dzese dzinowanikwa dzinogona kukamurwa kuita mapoka anotevera.

1. Zvirongwa zvinogadzira mufananidzo kubva kune yakagadzirira-yakagadzirwa uye yakagadziriswa system (Kugovera Ubuntu Kufungidzira, linux live kit, linux respin, systemback, nezvimwewo)
2. Zvirongwa zvinokutendera kuti ugadzire mufananidzo wako (yocto, linux kubva pakutanga)
3. Kuunganidza mufananidzo pachako (live CD customization и Russian yakaenzana, kuwedzera nyaya yaHabré)

Kushandisa zvigadziriso kubva muboka rekutanga zvaiita seyakareruka uye inoyevedza sarudzo, asi ini handina kumbokwanisa kugadzira mhenyu system mufananidzo weODROID. Mhinduro dzeboka rechipiri zvakare hadzina kundikodzera nekuda kweiyo yepamusoro pekupinda chikumbaridzo. Manual assembly maererano neapo tutorials aive asina kukodzera, nekuti ... Mufananidzo wangu wanga usina faira yakadzvanywa.
Nekuda kweizvozvo, ndakaona vhidhiyo nezve chroot (chroot - shandura midzi(Chinongedzo chevhidhiyo chiri pakupera kwechinyorwa) uye kugona kwayo, ndakasarudza kuishandisa. Pazasi ndichatsanangura mamiriro angu chaiwo ekugadzirisa. Ubuntu kune vanogadzira marobhoti.

Pakutanga data:

• Maitiro ese ekugadzirisa mufananidzo (kunze kwekunyora ku SD card uchishandisa balenaEtcher) akaitwa mu operating system Ubuntu 18.04.
• Sisitimu yekushandisa iyo gungano rayo rakagadziriswa raive - Ubuntu 18.04.3 shanduro yedesktop yakafanana.
• Muchina unofanirwa kushanda neiyo yakaunganidzwa system ndeye ODROID-C2.

Kugadzirira mufananidzo

1. Dhawunirodha mufananidzo Ubuntu yeODROID ne pamutemo nzvimbo

2. Kuburitsa mudura

   unxz –kv <файл архива с образом>

3. Gadzira dhairekitori umo isu tichaisa mufananidzo

   mkdir mnt

4. Sarudza chikamu pane iyo faira system iripo

   file <файл образа>

   Tiri kutsvaga chikamu chine faira system mune ext2, ext3 kana ext4 fomati. Isu tinoda kero yekutanga kwechikamu (yakasimudzwa mutsvuku pachiratidziro):

   
   
   Cherechedza: Nzvimbo yefaira system inogonawo kutariswa uchishandisa utility akaparadzaniswa.

5. Kuisa mufananidzo

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

   Chikamu chatinoda chinotanga ne block 264192 (nhamba dzako dzingasiyana), saizi yebhuroko rimwe i512 bytes, wedzera iwo kuti uwane indentation mumabhaiti.

6. Enda kune iyo folda ine yakamisikidzwa system uye hang out mairi

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

   ~/livecd/mnt - nzira yakazara kune dhairekitori neyakaiswa system
   bhini/sh - shell (inogonawo kutsiviwa ne bhini/bash)
   Iye zvino unogona kutanga kuisa mapakeji anodiwa uye maapplication.

Kuisa ROS

Ndakaisa yazvino vhezheni yeROS (ROS Melodic) maererano official tutorial.

1. Gadzirisa rondedzero yemapakeji

   sudo apt-get update

   Apa ndipo pandakawana kukanganisa:

   Err:6 http://deb.odroid.in/c2 bionic InRelease
   The following signatures were invalid: EXPKEYSIG 5360FB9DAB19BAC9 Mauro Ribeiro (mdrjr) <mauro.ribeiro@hardkernel.com>

   Izvi zvinokonzerwa nekuti kiyi yekusaina pasuru yapera. Kuti uvandudze makiyi, nyora:

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

2. Kugadzirira sisitimu yekuisa 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. Kuisa ROS
   Nehurombo, handina kukwanisa kuisa iyo desktop desktop yeROS, saka ndakaisa chete iwo ekutanga mapakeji:

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

   Cherekedza 1 Panguva yekugadzika dzimwe nguva kukanganisa kwakaitika:

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

   Yakagadziriswa nekubvisa cache uchishandisa apt utility:

   sudo apt-get clean; sudo apt-get autoclean

   Cherekedza 2 Mushure mekuisa, tsime uchishandisa murairo:

   source /opt/ros/melodic/setup.bash

   hazvishande, nekuti Isu hatina kumhanya bash, saka HAZVIDAI kutaipa muterminal.

4. Kuisa zvinodiwa zvinoenderana

   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. Kugadzira kodzero dzekuwana
   Sezvo isu takapinda mukati uye, chaizvoizvo, kuita zviito zvose panzvimbo yemudzi wegadziriro iri kuunganidzwa, ROS inongotangwa nekodzero dzepamusoro.
   Kana uchiedza kumhanya roscore pasina sudo, kukanganisa kunoitika:

   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'

   Kuti tidzivise kukanganisa kuti kurege kuitika, ngatichinjeizve kodzero dzekuwana kune ROS mushandisi weimba dhairekitori. Kuti tiite izvi tinonyora:

   sudo rosdep fix-permissions

6. Kuwedzera kuiswa kweiyo rviz uye rqt mapakeji

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

Final touches

1. Buda chroot:

   exit

2. Bvisa mufananidzo

   cd ..
   sudo umount mnt/

3. Ngatiisei sisitimu mufananidzo mudura

   xz –ckv1 <файл образа>

Zvose! Zvino nerubatsiro balenaetcher Unogona kunyora mufananidzo wesystem iyi kuSD card, woiisa muODROID-C2, uye uchava nayo Ubuntu neROS yakaiswa!

Mareferensi:

• Vhidhiyo iyi yakabatsira zvakanyanya nezve kubiridzira muLinux uye nei uchiida:

Source: www.habr.com