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Kuisa ROS muUbuntu IMG mufananidzo kune imwe-bhodhi

Nhanganyaya

Rimwe zuva, ndichishanda pane yangu thesis, ndakatarisana nekudiwa kwekugadzira mufananidzo weUbuntu kune imwechete-bhodhi chikuva neROS 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.

Kuisa ROS muUbuntu IMG mufananidzo kune imwe-bhodhi
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 (Distroshare Ubuntu Imager, 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 ΠΈ Russian yakaenzana, kuwedzera nyaya yaHabrΓ©)

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, batanidza kune vhidhiyo pakupera kwepositi) uye kugona kwayo, kwakasarudzwa kuishandisa. Tevere, ini ndichatsanangura yangu chaiyo nyaya yekugadzirisa Ubuntu kune vanogadzira marobhoti.

Pakutanga data:

  • Iyo yese yekugadzirisa mufananidzo maitiro (kunze kwekunyora kune SD kadhi uchishandisa balenaEtcher) yakaitwa paUbuntu 18.04 system yekushandisa.
  • Iyo inoshanda sisitimu ine gungano randakagadziridza ndeye Ubuntu 18.04.3 mate desktop version.
  • Muchina unofanirwa kushanda neiyo yakaunganidzwa system ndeye ODROID-C2.

Kugadzirira mufananidzo

  1. Dhawunirodha iyo Ubuntu mufananidzo weODROID kubva pamutemo nzvimbo

  2. Kuburitsa mudura

    unxz –kv <Ρ„Π°ΠΉΠ» Π°Ρ€Ρ…ΠΈΠ²Π° с ΠΎΠ±Ρ€Π°Π·ΠΎΠΌ>

  3. Gadzira dhairekitori umo isu tichaisa mufananidzo

    mkdir mnt

  4. Sarudza chikamu pane iyo faira system iripo

    file <Ρ„Π°ΠΉΠ» ΠΎΠ±Ρ€Π°Π·Π°>

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

    Kuisa ROS muUbuntu IMG mufananidzo kune imwe-bhodhi

    Cherechedza: Nzvimbo yefaira system inogonawo kutariswa uchishandisa utility akaparadzaniswa.

  5. Kuisa mufananidzo

    sudo mount -o loop,offset=$((264192*512)) <Ρ„Π°ΠΉΠ» с ΠΎΠ±Ρ€Π°Π·ΠΎΠΌ> 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) <[email protected]>

    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 <Ρ„Π°ΠΉΠ» ΠΎΠ±Ρ€Π°Π·Π°>

Zvose! Zvino nerubatsiro balenaetcher unogona kupisa mufananidzo wehurongwa kune kadhi reSD, woiisa muODROID-C2, uye uchave uine Ubuntu ine ROS yakaiswa!

Mareferensi:

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



Source: www.habr.com

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