🥇Ku rakibida ROS sawirka IMG Ubuntu qofkii hal mar bixin jiray

Horudhac

Maalintii kale, intii aan shahaadadayda ka shaqeynayay, waxaan la kulmay baahida loo qabo inaan sameeyo sawir Ubuntu kombiyuutar hal sabuurad ah oo ROS horey loogu rakibay (Nidaamka Hawlgalka Robot - nidaamka hawlgalka robot). Marka la soo koobo, dibloomadu waxay u heellan tahay maaraynta koox robots ah. Robots-yadu waxay ku qalabaysan yihiin laba taayir iyo saddex nooc oo kala duwan. Wax walba waxaa laga maamulaa ROS, kaas oo ku shaqeeya guddiga ODROID-C2.

Robot Ladybug. Waan ka xumahay tayada sawirka liidata

Ma jirin wakhti ama rabitaan ah in lagu rakibo ROS robot kasta si gaar ah, sidaas darteed waxaa jiray baahi loo qabo sawirka nidaamka ee ROS mar hore lagu rakibay. Baadhitaanka internetka ka dib, waxaan helay dhowr habab oo sida tan loo samayn karo.
Guud ahaan, dhammaan xalalka la helo waxaa loo qaybin karaa kooxahan soo socda.

Barnaamijyada sawir ka sameeya hab diyaarsan oo habaysan (La qaybso Ubuntu Sawirka, xirmada tooska ah ee Linux, linux respin, systemback, iwm.)
Mashruucyo kuu oggolaanaya inaad abuurto sawirkaaga (yocto, Linux ka xoq)
Isku-dubbarid sawirka laftaadu (habaynta CD live и Ruush u dhigma, lagu daray maqaal ku saabsan Habré)

Isticmaalka xalalka kooxda koowaad waxay u muuqatay inay tahay ikhtiyaarka ugu fudud uguna soo jiidashada badan, laakiin waligey ma awoodin inaan abuuro muuqaal nidaam nool oo loogu talagalay ODROID. Xalalka kooxda labaad sidoo kale iguma habboonayn sababtoo ah heerka gelitaanka caddaaladda ah ee sarreeya. Kulanka gacanta sida waafaqsan casharrada la heli karo sidoo kale kuma haboona, sababtoo ah... Sawirkaygu ma lahayn nidaam faylal ah oo cufan.
Natiijo ahaan, waxaan la kulmay fiidiyow ku saabsan chroot (chroot - beddel xidid(Xidhiidhka fiidiyowga ee dhammaadka qoraalka) iyo awooddiisa, waxaan go'aansaday inaan isticmaalo. Hoos waxaan ku sharxi doonaa kiiskayga gaarka ah ee habaynta. Ubuntu horumariyayaasha robot-ka.

Xogta hore:

Geedi socodka oo dhan ee wax ka beddelka sawirka (marka laga reebo qorista kaarka SD iyadoo la adeegsanayo balenaEtcher) waxaa lagu sameeyay nidaamka hawlgalka. Ubuntu 18.04.
Nidaamka hawlgalka oo isku-dubaridkiisa wax laga beddelay wuxuu ahaa - Ubuntu Nooca desktop-ka ee saaxiibka ah ee 18.04.3.
Mashiinka ay tahay inuu ku shaqeeyo nidaamka la isku duba riday waa ODROID-C2.

Diyaarinta sawirka

Soo dejiso sawirka Ubuntu loogu talagalay ODROID oo leh goobta rasmiga ah

Furitaanka kaydka

unxz –kv <файл архива с образом>

Samee hage aan ku dhejin doono sawirka
```
mkdir mnt
```
Go'aami qaybta uu nidaamka faylka ku yaal
```
file <файл образа>
```
Waxaan raadineynaa qayb leh nidaamka faylalka ee qaabka ext2, ext3 ama ext4. Waxaan u baahanahay ciwaanka bilowga qaybta (oo lagu iftiimiyay guduudan shaashadda):

Fiiro gaar ah. Goobta nidaamka faylka sidoo kale waa la arki karaa iyadoo la isticmaalayo utility qaybsadeen.
Kordhinta sawirka
```
sudo mount -o loop,offset=$((264192*512)) <файл с образом> mnt/
```
Qaybta aan u baahanahay waxay ka bilaabataa block 264192 (lambaradaadu way kala duwanaan karaan), cabbirka hal baloog waa 512 bytes, ku dhufo si aad u hesho gelitaanka bytes.
Tag galka nidaamka rakiban oo ku dhex dheji
```
cd mnt/
sudo chroot ~/livecd/mnt/ bin/sh
```
~/livecd/mnt - Jidka buuxa ee hagaha oo leh nidaamka rakiban
bin/sh - qolof (sidoo kale waxaa lagu bedeli karaa bin/bash)
Hadda waxaad bilaabi kartaa rakibidda xirmooyinka lagama maarmaanka ah iyo codsiyada.

Ku rakibida ROS

Waxaan rakibay noocii ugu dambeeyay ee ROS (ROS Melodic) sida waafaqsan waxbarashada rasmiga ah.

Cusbooneysiinta liiska xirmooyinka

sudo apt-get update

Waa kan meesha aan ka helay qaladka:

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

Tan waxa u sabab ah xaqiiqda ah in furaha saxeexa baakadda uu dhacay. Si aad u cusboonaysiiso furayaasha, ku qor:

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

Diyaarinta nidaamka rakibida 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

Ku rakibida ROS
Nasiib darro, ma awoodin inaan rakibo nooca desktop-ka ee ROS, sidaa darteed waxaan rakibay kaliya xirmooyinka aasaasiga ah:
```
sudo apt install ros-melodic-ros-base
apt search ros-melodic
```
Xusuusin 1. Inta lagu jiro nidaamka rakibidda mararka qaarkood waxaa dhacay qalad:
```
dpkg: error: failed to write status database record about 'iputils-ping' to '/var/lib/dpkg/status': No space left on device
```
Waxaa lagu hagaajiyay iyadoo la nadiifinayo kaydka iyadoo la adeegsanayo utility habboon:
```
sudo apt-get clean; sudo apt-get autoclean
```
Xusuusin 2. Ka dib markii la rakibo, isha adoo isticmaalaya amarka:
```
source /opt/ros/melodic/setup.bash
```
ma shaqayn doonto, sababtoo ah Ma aan socon bash, markaa uma baahna in lagu qoro terminalka.

Ku-tiirsanaanta lagama maarmaanka ah

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

sudo apt install python-rosdep

sudo rosdep init
rosdep update

Dejinta xuquuqaha gelitaanka
Maadaama aan galnay oo, dhab ahaantii, aan fulinayno dhammaan ficillada anagoo ka wakiil ah xididka nidaamka la ururiyay, ROS waxaa lagu bilaabi doonaa oo keliya xuquuqaha kormeeraha.
Markaad isku dayeyso inaad socodsiiso roscore la'aanteed sudo, qalad ayaa dhaca:
```
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'
```
Si looga hortago in khaladku dhaco, aynu si isdaba joog ah u bedelno xuquuqaha gelitaanka ee tusaha guriga isticmaalaha ROS. Si aan tan u sameyno waxaan ku qornaa:
```
sudo rosdep fix-permissions
```

Rakibaadda dheeraadka ah ee xirmooyinka rviz iyo rqt

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

Taabashooyinka ugu dambeeya

Ka bax chroot:
```
exit
```
Soo deji sawirka
```
cd ..
sudo umount mnt/
```
Aynu ku xidhno sawirka nidaamka kaydka
```
xz –ckv1 <файл образа>
```

Dhammaan! Hadda iyadoo la kaashanayo BalenaEtcher Waxaad sawirka nidaamka ku qori kartaa kaarka SD, waxaadna ku dhejin kartaa ODROID-C2, waadna yeelan doontaa Ubuntu iyadoo ROS la rakibay!

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