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Ku rakibida ROS ee muuqaalka Ubuntu IMG ee hal-board

Horudhac

Maalintii kale, markii aan ka shaqeynayay qoraalkayga, waxaan la kulmay baahida loo qabo in la abuuro sawirka Ubuntu ee madal hal-board ah oo ROS horay loo 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.

Ku rakibida ROS ee muuqaalka Ubuntu IMG ee hal-board
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.

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

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, isku xirka fiidiyowga dhamaadka boostada) iyo awoodeeda, waxaa la go'aamiyay in la isticmaalo. Marka xigta, waxaan sharxi doonaa kiiskeyga gaarka ah ee u habeynta Ubuntu ee horumariyeyaasha robotics.

Xogta hore:

  • Habka wax ka beddelka sawirka oo dhan (marka laga reebo qorista kaarka SD iyadoo la adeegsanayo balenaEtcher) ayaa lagu sameeyay nidaamka hawlgalka Ubuntu 18.04.
  • Nidaamka hawlgalka ee aan wax ka beddelay waa Ubuntu 18.04.3 nooca desktop-ka.
  • Mashiinka ay tahay inuu ku shaqeeyo nidaamka la isku duba riday waa ODROID-C2.

Diyaarinta sawirka

  1. Ka soo deji sawirka Ubuntu ee ODROID goobta rasmiga ah

  2. Furitaanka kaydka

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

  3. Samee hage aan ku dhejin doono sawirka

    mkdir mnt

  4. Go'aami qaybta uu nidaamka faylka ku yaal

    file <Ρ„Π°ΠΉΠ» ΠΎΠ±Ρ€Π°Π·Π°>

    Waxaan raadineynaa qayb leh nidaamka faylalka ee qaabka ext2, ext3 ama ext4. Waxaan u baahanahay ciwaanka bilowga qaybta (oo lagu iftiimiyay guduudan shaashadda):

    Ku rakibida ROS ee muuqaalka Ubuntu IMG ee hal-board

    Fiiro gaar ah. Goobta nidaamka faylka sidoo kale waa la arki karaa iyadoo la isticmaalayo utility qaybsadeen.

  5. Kordhinta sawirka

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

  6. 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.

  1. 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) <[email protected]>

    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

  2. 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

  3. 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.

  4. 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

  5. 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

  6. Rakibaadda dheeraadka ah ee xirmooyinka rviz iyo rqt

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

Taabashooyinka ugu dambeeya

  1. Ka bax chroot: 
    exit
  2. Soo deji sawirka 
    cd ..
sudo umount mnt/
  3. Aynu ku xidhno sawirka nidaamka kaydka 
    xz –ckv1 <Ρ„Π°ΠΉΠ» ΠΎΠ±Ρ€Π°Π·Π°>

Dhammaan! Hadda iyadoo la kaashanayo BalenaEtcher waxaad ku gubi kartaa sawirka nidaamka kaadhka SD, geli ODROID-C2, waxaadna ku rakibi doontaa Ubuntu oo leh ROS!

Tixraacyada:

  • Fiidiyowgaan wax badan ayuu ka caawiyay sida loogu khiyaameeyo Linux iyo sababta aad ugu baahan tahay:



Source: www.habr.com

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