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Ukufaka iROS kumfanekiso we-Ubuntu IMG kwibhodi enye

Intshayelelo

Ngenye imini, ngelixa ndisebenza kwithisisi yam, bendijongene nesidingo sokwenza umfanekiso we-Ubuntu weqonga lebhodi enye ene-ROS esele ifakiwe (Inkqubo yokusebenza yerobhothi - inkqubo yokusebenza yerobhothi). Ngamafutshane, idiploma inikezelwe ekulawuleni iqela leerobhothi. Iirobhothi zixhotyiswe ngamavili amabini kunye nezixhobo ezintathu zokufumana uluhlu. Yonke into ilawulwa kwi-ROS, ehamba kwibhodi ye-ODROID-C2.

Ukufaka iROS kumfanekiso we-Ubuntu IMG kwibhodi enye
Robot Ladybug. Uxolo ngomgangatho ophantsi wefoto

Kwakungekho xesha okanye umnqweno wokufaka i-ROS kwirobhothi nganye, kwaye ngoko ke kwakukho imfuneko yomfanekiso wenkqubo kunye ne-ROS esele ifakiwe. Emva kokukhangela i-Intanethi, ndifumene iindlela ezininzi zokuba oku kunokwenziwa njani.
Ngokubanzi, zonke izisombululo ezifunyenweyo zinokwahlulwa zibe ngamaqela alandelayo.

  1. Iinkqubo ezenza umfanekiso ovela kwindlela esele ilungisiwe kwaye iqwalaselwe (Distroshare Ubuntu Imager, linux live kit, linux repin, umva wenkqubo, njl.)
  2. Iiprojekthi ezikuvumela ukuba wenze owakho umfanekiso (yocto, linux ukusuka ekuqaleni)
  3. Ukudibanisa umfanekiso ngokwakho (live CD ngokwezifiso ΠΈ IsiRashiya esilinganayokunye inqaku ngoHabrΓ©)

Ukusebenzisa izisombululo ezivela kwiqela lokuqala kubonakala kuyindlela elula kwaye ekhangayo, kodwa andizange ndikwazi ukwenza umfanekiso wenkqubo ephilayo ye-ODROID. Izisombululo zeqela lesibini nazo azindifanelanga ngenxa yokungena kumda ophakamileyo. Indibano yezandla ngokwee-tutorials ezikhoyo nayo yayingafanelekanga, kuba... Umfanekiso wam ubungenasixokelelwano sefayile ecinezelweyo.
Ngenxa yoko, ndifumene ividiyo malunga nechroot (chroot - utshintsho ingcambu, ikhonkco kwividiyo ekupheleni kwesithuba) kunye nobuchule bayo, kwagqitywa ukuba isetyenziswe. Okulandelayo, ndiza kuchaza imeko yam ethile yokwenza ubuntu kubaphuhlisi berobhothi.

Idatha yokuqala:

  • Yonke inkqubo yokuguqulwa komfanekiso (ngaphandle kokubhalela kwikhadi le-SD usebenzisa i-balenaEtcher) yenziwe kwi-Ubuntu 18.04 inkqubo yokusebenza.
  • Inkqubo yokusebenza endiyilungisileyo indibano yayo yi-Ubuntu 18.04.3 mate desktop version.
  • Umatshini apho inkqubo edibeneyo kufuneka isebenze yi-ODROID-C2.

Ukulungisa umfanekiso

  1. Khuphela umfanekiso we-Ubuntu weODROID ukusuka indawo esemthethweni

  2. Ukukhupha indawo yokugcina

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

  3. Yenza uvimba weefayili apho siza kunyusela khona umfanekiso

    mkdir mnt

  4. Qinisekisa ulwahlulo apho isixokelelwano sefayile sikhoyo

    file <Ρ„Π°ΠΉΠ» ΠΎΠ±Ρ€Π°Π·Π°>

    Sijonge ulwahlulo ngesixokelelwano sefayile kwi-ext2, ext3 okanye ext4 ifomathi. Sidinga idilesi yesiqalo secandelo (ephawulwe ngobomvu kwiscreen):

    Ukufaka iROS kumfanekiso we-Ubuntu IMG kwibhodi enye

    Qaphela: Indawo ekuyo isixokelelwano sefayile inokujongwa kusetyenziswa into eluncedo yahlulwe.

  5. Ukunyuswa komfanekiso

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

    Icandelo esilidingayo liqala ngebhloko ye-264192 (amanani akho anokwahluka), ubukhulu bebhloko enye yi-512 bytes, phinda-phinda ukuze ufumane i-indentation kwii-bytes.

  6. Yiya kwifolda enenkqubo enyusiweyo kwaye uxhome kuyo

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

    ~/livecd/mnt β€” umendo ogcweleyo kulawulo ngenkqubo enyusiweyo
    umgqomo/sh - iqokobhe (linokutshintshwa kwakhona umgqomo/bash)
    Ngoku ungaqala ukufaka iipakethe eziyimfuneko kunye nezicelo.

Ukufakela iROS

Ndifake inguqulelo yamva nje yeROS (ROS Melodic) ngokutsho isifundo esisemthethweni.

  1. Ukuhlaziya uluhlu lweepakethe

    sudo apt-get update

    Kulapho ndifumene khona impazamo:

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

    Oku kungenxa yokuba iqhosha lokusayina kwiphakheji liphelelwe lixesha. Ukuhlaziya izitshixo, chwetheza:

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

  2. Ukulungiselela inkqubo yokufaka iROS

    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. Ukufakela iROS
    Ngelishwa, andikwazanga ukufaka inguqulo ye-desktop ye-ROS, ndiye ndafaka kuphela iipakethe ezisisiseko:

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

    Qaphela 1. Ngexesha lofakelo ngamanye amaxesha kwenzeke impazamo:

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

    Yalungiswa ngokucoca i-cache usebenzisa i-apt utility:

    sudo apt-get clean; sudo apt-get autoclean

    Qaphela 2. Emva kofakelo, umthombo usebenzisa umyalelo:

    source /opt/ros/melodic/setup.bash

    ayizukusebenza, ngokuba Asizange sibaleke i-bash, ngoko AKUFUNI ukuchwethezwa kwi-terminal.

  4. Ukufakela ukuxhomekeka okuyimfuneko

    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. Ukumisela amalungelo okufikelela
    Ekubeni singenile kwaye, ngokwenene, senze zonke izenzo egameni lengcambu yenkqubo ehlanganiswe, i-ROS iya kuqaliswa kuphela ngamalungelo omsebenzisi.
    Xa uzama ukuqhuba i-roscore ngaphandle kwe-sudo, kwenzeka impazamo:

    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'

    Ukuthintela impazamo ukuba ingenzeki, masitshintshe ngokuphindaphindiweyo amalungelo okufikelela kuluhlu lwasekhaya lomsebenzisi weROS. Ukwenza oku sichwetheza:

    sudo rosdep fix-permissions

  6. Ufakelo olongezelelweyo lweepakethe ze-rviz kunye ne-rqt

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

Ukuchukunyiswa kokugqibela

  1. Phuma kwi-chroot: 
    exit
  2. Yehlisa umfanekiso 
    cd ..
sudo umount mnt/
  3. Masipakishe umfanekiso wenkqubo kwindawo yokugcina 
    xz –ckv1 <Ρ„Π°ΠΉΠ» ΠΎΠ±Ρ€Π°Π·Π°>

Konke! Ngoku ngoncedo balenaetcher ungatshisa umfanekiso wenkqubo kwikhadi le-SD, ulifake kwiODROID-C2, kwaye uya kuba noBuntu ngeROS efakiweyo!

Izalathiso:

  • Le vidiyo incede kakhulu malunga nendlela yokukopela kwiLinux kwaye kutheni uyifuna:



umthombo: www.habr.com

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