Robot Operating System port

Re: Robot Operating System port

Postby aolofsson » Tue Aug 19, 2014 7:35 pm

Gamedrummer wrote:I rebuilt the kernel again to include Wii remote drivers, and Xbox 360 controller drivers for joystick_teleop (I will include the .config file later). Afterwards I attempted to operate the autonomous robot with the Parallella. All sensors were recognized once plugged in, but there is an issue that I can not figure out.


This is really awesome. Can't wait to see a demo.:-) Not sure about the hub issue?

Gamedrummer wrote:The only functioning USB port is on the side with the SD card and the HDMI connector, the other does not seem to work, not sure if the board has an issue or I'm using the wrong bitstream. The USB hub is a "Sabrent 4-Port USB 2.0 Hub with Individual Power Switches and LEDs (HB-UMLS)". And the micro-USB to USB adapter is a "StarTech.com 5in Micro USB to USB OTG Host Adapter - Micro USB Male to USB A Female On-The-GO Host Cable Adapter".


Unfortunately, there is only one logical USB port on the device (next to the HDMI connector). The second USB port (next to ethernet) should only be used for powering the board.
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Re: Robot Operating System port

Postby Gamedrummer » Wed Aug 27, 2014 5:58 pm

Thanks for letting me know, Aolofsson.

Sorry for the long delay from my last response, I got around the USB issue by replacing the FPGA bitstream with a fresh copy, and everything is working fine now! I will be testing the full autonomy code sometime this week, and I am creating a CMake file for the Epiphany_Node package to compile both ARM code and Epiphany code on a 'catkin_make' call.

--John
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Re: Robot Operating System port

Postby Gamedrummer » Thu Sep 04, 2014 5:41 pm

I was attempting to run the Microsoft Kinect test code on the Parallella github account. But, while I was installing dependencies I accidentally removed the point cloud library which, in-turn, removed the entire navigation stack. The amount of work it would take to re-install all dependencies manually is a bit too much for me, and the lack of support of Ubuntu 13.04 (Raring) makes this system too fragile, so I will be switching to an Ubuntu 14.04 installation of Linaro and creating the package in Indigo.

I am aware that Indigo has all required packages ready, so my work should not be impeded. This only sets me back by a little bit since the kernel and what I have of the current package should be unaffected, meaning I can just move them over. I will begin the fresh install of Linaro tonight, I will document it, as before, for future use.

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Re: Robot Operating System port

Postby Gamedrummer » Fri Sep 05, 2014 10:34 pm

I have successfully installed Linaro 14.08 on the Parallella. I did not need to replace the BOOT partition since (I believe) it should work on the new build. I have also installed ROS Indigo on the system and have just finished installing all required packages and can resume from where I left off.

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Re: Robot Operating System port

Postby Gamedrummer » Wed Sep 10, 2014 3:58 pm

I was having trouble compiling my Epiphany code this week and was unsure as to why it was happening, I kept getting the error "/opt/adapteva/esdk.5.13.09.10/tools/e-gnu.armv7l/bin/../libexec/gcc/epiphany-elf/4.8.2/cc1: error while loading shared libraries: libmpc.so.2: cannot open shared object file: No such file or directory", this was because I did not have the libmpc2 package. Trying to install it through "sudo apt-get install libmpc2" (this is the correct package name, I checked the Linaro installation guide on the software wiki) did not work and I noticed that it no longer exists on [url]ports.ubuntu.com[/url]. To rectify this issue I went to https://packages.debian.org/wheezy/libmpc2 to download the armhf version of the package, dropped it in and installed it with "sudo dpkg -i <name of the package>" and everything works now.

I felt that I should note this since it appears that the libmpc2 package is not easily available anymore and is required to compile the Epiphany code.

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Re: Robot Operating System port

Postby Gamedrummer » Thu Sep 11, 2014 9:06 pm

I will be attending ROSCon 2014 (http://roscon.ros.org/) this week. I will be there all day Friday and Saturday (September 12th-13th) and try to get some help from some of the most knowledgable people, on ROS, to understand how best to design this port.

If anyone else is attending as well, I hope to see you there!

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Re: Robot Operating System port

Postby Gamedrummer » Sun Sep 14, 2014 4:26 am

I made some progress on the Parallella at ROSCon 2014 this week, and even ran into another Parallella user who is running ROS on their board as well!

So far I have been able to create a functioning CMakelist for the epiphany_node in ROS Indigo, thanks to William Woodall, I am now able to compile the hello_world example as a ROS node with no issues. Though I am running into an issue with launching the node, it appears that to launch the application you need to be root, is there any way to bypass this issue and run it as the Linaro user?

To test the application I modified the root .bashrc to allow root access to ROS (which is not recommended) and anytime I launched the application the output is:
Code: Select all
root@linaro-nano:/home/linaro/workspace/ROS/catkin_ws# rosrun epiphany_node epiphany_node
0: Message from eCore 0x8ca ( 3, 2): Segmentation fault

While I wait for a response, on these forums, I will see if there is any way to modify ROS Indigo's rosrun command to make it launch the node a special way.

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Re: Robot Operating System port

Postby 9600 » Sun Sep 14, 2014 10:10 am

Gamedrummer wrote:Though I am running into an issue with launching the node, it appears that to launch the application you need to be root, is there any way to bypass this issue and run it as the Linaro user?


The eSDK that shipped with the Linaro image opens /dev/mem to access the Epiphany, hence the need to be root. However, if you were to build a newer version of the SDK from git this would open /dev/epiphany and it's safe to set more relaxed permissions on that, e.g. via a udev rule.

However, you only get a /dev/epiphany device with a more recent kernel and so you would have to build this from git also. Note that if you go down that route there is presently no HDMI support, which may or may not be an issue for your use.

Regards,

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Re: Robot Operating System port

Postby Gamedrummer » Mon Sep 15, 2014 4:34 pm

Thanks for the quick reply, 9600!

The image and kernel I am using on my Parallella are built from source, not the pre-compiled ones on the website. Though I am currently using the pre-compiled eSDK (5.13.09.10). Would it be fine to create the udev rule and see how it goes from there or is there something in the eSDK that needs to be generated by the linaro user to allow access /dev/mem?

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Re: Robot Operating System port

Postby 9600 » Tue Sep 16, 2014 1:54 pm

The linaro user will only have access to /dev/mem if you either:

  • Sudo (the scripts that execute the examples do this);
  • Or set relaxed permissions on /dev/mem (definitely not advised!)

Since you built a custom kernel, I would suggest building a more recent version of eSDK.

Regards,

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