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| Original file line number | Diff line number | Diff line change |
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| @@ -1,8 +1,8 @@ | ||
| ## Introduction | ||
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| This project contains a set of patches and scripts to compile and run ROS1 on a Go1 robot, without the need of a tethered computer, based on https://github.com/esteve/ros2_pepper | ||
| This project contains a set of patches and scripts to compile and run ROS1 on a Pepper robot, without the need of a tethered computer, based on https://github.com/esteve/ros2_pepper and https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_unitree_robot/cross/README.md | ||
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| ## Setup Go1 Robot | ||
| ## Setup Pepper Robot | ||
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| ### Prepare cross-compiling environment (Run only the fist time per host computer) | ||
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@@ -19,107 +19,102 @@ $ newgrp | |
| $ sudo apt install -y qemu-user-static | ||
| ``` | ||
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| ### Build ROS System on Docker (Run only the fist time per host computer) | ||
| 3. Install Aldebaran's cross environment tool-chains | ||
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| ``` | ||
| make system | ||
| ``` | ||
| Download and extract ctc-linux64-atom-2.5.10.7.zip (use [GoogleDrive](https://drive.google.com/drive/folders/1P49oBEobwyVI4TG1nxxXUftc9TLEYEc7) for JSK Users) in your home directory. | ||
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| Caution!!! It will take more than a few hours !! So for JSK users, download the `arm64v8_System.tgz` archive file from [here](https://drive.google.com/drive/u/2/folders/1SBA9oAwjfD84yRFEB-jsCH1m5Q8eEGSK) and extract under `jsk_unitree_robot/cross/` directory before run `make` command. | ||
| Set environment variable to your `.bashrc` | ||
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| Run following command to copy ROS1 base sytem to Go1 onboard computer. This should be done only in the first time. So normally user do not have to run this command | ||
| ``` | ||
| ./install.sh -p 123 -D System | ||
| export ALDE_CTC_CROSS=$HOME/ctc-linux64-atom-2.5.10.7 | ||
| ``` | ||
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| ### Build `jsk_unitree_robot` software on Docker | ||
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| You can build your current `jsk_unitree_robot` workspace on Docker environment which is ready to copy into Go1 onboard computer. | ||
| 4. Install command used in scripts | ||
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| ``` | ||
| make user | ||
| apt install python-vcstool sshpass | ||
| ``` | ||
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| To copy your software to Go1 onboard computer, run following command | ||
| ### Build ROS System on Docker (Run only the fist time per host computer) | ||
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| ``` | ||
| ./install.sh -p 123 | ||
| make system | ||
| ``` | ||
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| ## Detailed information | ||
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| ### Procedures not included in `make` process | ||
| Caution!!! It will take more than a few hours !! | ||
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| #### Setup CUDA environment | ||
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| nano3(192.168.123.15) of Pro robot does not contain CUDA environment. Please look at `pro_nano2_install_scripts` directory. | ||
| Run following command to copy ROS1 base sytem to Pepper onboard computer. This should be done only in the first time. So normally user do not have to run this command. You need to specify password by -p option. | ||
| ``` | ||
| ./install.sh -p <robot password> -d System | ||
| ``` | ||
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| #### copy `rosdep` cache file | ||
| ### Build `jsk_pepper_robot` software on Docker | ||
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| nano2(192.168.123.14) of Edu robot does not contain `rosdep` cache file, thus `app_manager.launch` outputs following warnings. | ||
| You can build your current `jsk_pepper_robot` workspace on Docker environment which is ready to copy into Pepper onboard computer. | ||
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| ``` | ||
| the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' | ||
| [INFO] [1631952867.412752]: Loading from plugin definitions | ||
| [WARN] [1631952867.416907]: No applist directory found. | ||
| [INFO] [1631952867.426196]: Using apps for platform 'go1' | ||
| [INFO] [1631952867.441346]: Starting app manager for robot | ||
| [INFO] [1631952867.467832]: Waiting for foreign master [http://localhost:11313] to come up... | ||
| [INFO] [1631952867.491849]: Foreign master is available | ||
| ``` | ||
| and you can also find find following error. | ||
| ``` | ||
| rospack export --lang=app_manager --attrib=app_manager jsk_unitree_startup | ||
| [rospack] Error: the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' | ||
| make user | ||
| ``` | ||
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| To fix this problem, go to `pro_nano2_install_scripts` directory and copy cache files. | ||
| To copy your software to Pepper onboard computer, run following command | ||
| ``` | ||
| cd pro_nano2_install_scripts | ||
| ./copy.sh | ||
| ./install.sh -p <robot password> | ||
| ``` | ||
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| #### List of software installed in Docker environment | ||
| ## Start `jsk_pepper_startup.launch` | ||
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| Create List of ROS packages to be installed | ||
| ssh to NAO_IP machine and run | ||
| ``` | ||
| ssh [email protected] 'source /opt/ros/melodic/setup.bash; rospack list' |tee 161-list.txt | ||
| ssh [email protected] 'source /opt/ros/melodic/setup.bash; rospack list' |tee 13-list.txt | ||
| ssh [email protected] 'source /opt/ros/melodic/setup.bash; rospack list' |tee 14-list.txt | ||
| ssh [email protected] 'source /opt/ros/melodic/setup.bash; rospack list' |tee 15-list.txt | ||
| cat 161-list.txt 13-list.txt 14-list.txt 15-list.txt | sort | uniq -c | sort | egrep "^.*4" | sed 's/^\s*4\s*\(\S*\)\s.*$/ros-melodic-\1/' | sed 's/_/-/g' | tee ros-packages.txt | ||
| source User/user_setup.bash | ||
| roslaunch --screen jsk_pepper_startup jsk_pepper_startup.launch network_interface:=eth0 launch_dashboard:=false launch_joy:=false | ||
| ``` | ||
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| Create List of Debian packages to be installed | ||
| ``` | ||
| ssh [email protected] 'dpkg --get-selections' | tee 161-select.txt | ||
| ssh [email protected] 'dpkg --get-selections' | tee 13-select.txt | ||
| ssh [email protected] 'dpkg --get-selections' | tee 14-select.txt | ||
| ssh [email protected] 'dpkg --get-selections' | tee 15-select.txt | ||
| cat 13-select.txt 14-select.txt 161-select.txt | sort | uniq -c | egrep "^\s+3\s" | sed 's/\s\s*/ /g' | cut -f 3 -d\ | sed 's/:arm64$//' | tee deb-packages.txt | ||
| ``` | ||
| You can connect to `app_chooser` by http://<$NAO_IP>:8000/rwt_app_chooser/#!robot | ||
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| ## Known Issues | ||
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| ### Running python3 | ||
| ### `./install.sh -d System` errors at the first time. | ||
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| ./install.sh -d System` requires `User` environment, so it causes error at the first time. You need to re-run `./install.sh` after you installed User space. | ||
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| Since `st-000-ros1.bash` set PYTHONPATH and we installed `python-futures` via pip, It breaks python3 execution. | ||
| When you run python3, you need to unset PYTHONPATH, i.e `PYTHONPATH= vcs` | ||
| ### `./build_user.sh build -c` fails | ||
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| ### Build time | ||
| `./build_user.sh build -c` fails as follows. This is expected behavior and we recommend to combile all packages in the first time. `make user` runs `catkin build jsk_pepper_startup peppereus` and pacakages such as `pepepr_meshes` and `rosbash` is not compiled with this command. | ||
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| Compile all System packages on aarch64 takes long time, It will take a whole day. You'd metter to obtain `arm64v8_System` directory from someone else. | ||
| ``` | ||
| [ Failed] roseus_remote | ||
| [ Failed] speak_and_wait_recovery | ||
| ``` | ||
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| ### To comple `pepper.l` within the robot | ||
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| ``` | ||
| cp -r /opt/ros/melodic/share/pepper_meshes/meshes/ ./i386_User/src/pepper_meshes/ | ||
| rm -fr i386_User/build/pepper_meshes/ i386_User/build/peppereus | ||
| ./build_user.sh build pepper_meshes peppereus | ||
| ``` | ||
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| ### Development | ||
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| On development phase, users are expected to develop sofoware on remote machine. All codes are expected to add in jsk_unitree_startup package. | ||
| On development phase, users are expected to develop sofoware on a remote machine. All codes are expected to add in `jsk_pepper_startup` package. | ||
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| ### Deployment | ||
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| You can send all development files to robot and start them on boot time. | ||
| You can send all development files to robot and start them on boot time. Note that this process requres `NAO_IP` environment variable. | ||
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| ``` | ||
| make user | ||
| make install | ||
| ``` | ||
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| If you want to use ethernet, you need to change from `wlan0` to `eth0` in `jsk_naoqi_robot/cross/startup_scripts/user_setup.bash` and run `make install` | ||
| ``` | ||
| export ROS_IP=$(ip addr show eth0 | grep -Po '(?<= inet )([0-9]{1,3}.){3}[0-9]{1,3}') | ||
| ``` | ||
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| If you add more dependencies to `package.xml`, you need to remove `i386_Users` and run `make user` again. | ||
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| You can restore from saved docker container. For JSK users, you can find latest data at [Google Drive](https://drive.google.com/drive/u/1/folders/10rINVGt1iDM2WNofmf0sZBX_iTnpXya6). You can also find backup of `i386_System`. | ||
| ``` | ||
| docker load < ros1-pepper.tar | ||
| ``` | ||
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25 changes: 25 additions & 0 deletions
25
jsk_naoqi_robot/cross/ros1_dependencies_build_scripts/1044-screen
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,25 @@ | ||
| #!/bin/bash | ||
| set -xeuf -o pipefail | ||
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| DEBIAN_DIR=/home/nao/ros1_dependencies_sources/src/screen/debian/debian | ||
| SOURCE_DIR=/home/nao/ros1_dependencies_sources/src/screen/screen-4.6.2 | ||
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| cd ${DEBIAN_DIR}/patches | ||
| if [ ! -e .patched ]; then | ||
| for patch_file in $(cat series); do | ||
| [ -e "${patch_file}" ] || continue | ||
| OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) | ||
| done | ||
| touch .patched | ||
| fi | ||
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| cd ${SOURCE_DIR} | ||
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| #LIBNCURSES_LIBS="-lncurses -ltinfo" LIBNCURSES_CFLAGS="-I/home/nao/System/ros1_dependencies/include/ncurses -D_GNU_SOURCE -D_DEFAULT_SOURCE" | ||
| ./configure \ | ||
| --prefix=/home/nao/${INSTALL_ROOT}/ros1_dependencies \ | ||
| --enable-static --host=i686-aldebaran-linux-gnu \ | ||
| --disable-pam --disable--socket-dir --disable-doc | ||
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| make -j4 install | ||
| # make install --list-missing -X.la -Xinfo/dir -X.pyc -Xinstall_files.txt -X__pycache__ |
24 changes: 24 additions & 0 deletions
24
jsk_naoqi_robot/cross/ros1_dependencies_build_scripts/1045-libogg-dev
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,24 @@ | ||
| #!/bin/bash | ||
| set -xeuf -o pipefail | ||
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| DEBIAN_DIR=/home/nao/ros1_dependencies_sources/src/libogg-dev/debian/debian | ||
| SOURCE_DIR=/home/nao/ros1_dependencies_sources/src/libogg-dev/libogg-1.3.2 | ||
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| # cd ${DEBIAN_DIR}/patches | ||
| # if [ ! -e .patched ]; then | ||
| # for patch_file in $(cat series); do | ||
| # [ -e "${patch_file}" ] || continue | ||
| # OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) | ||
| # done | ||
| # touch .patched | ||
| # fi | ||
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| cd ${SOURCE_DIR} | ||
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| ./configure \ | ||
| --prefix=/home/nao/${INSTALL_ROOT}/ros1_dependencies \ | ||
| --enable-static --host=i686-aldebaran-linux-gnu | ||
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| make clean || echo "OK" | ||
| make -j4 install | ||
| # make install --list-missing -X.la -Xinfo/dir -X.pyc -Xinstall_files.txt -X__pycache__ |
24 changes: 24 additions & 0 deletions
24
jsk_naoqi_robot/cross/ros1_dependencies_build_scripts/1046-libtheora-dev
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,24 @@ | ||
| #!/bin/bash | ||
| set -xeuf -o pipefail | ||
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| DEBIAN_DIR=/home/nao/ros1_dependencies_sources/src/libtheora/debian/debian | ||
| SOURCE_DIR=/home/nao/ros1_dependencies_sources/src/libtheora/libtheora-1.1.1 | ||
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| cd ${DEBIAN_DIR}/patches | ||
| if [ ! -e .patched ]; then | ||
| for patch_file in $(cat series); do | ||
| [ -e "${patch_file}" ] || continue | ||
| OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) | ||
| done | ||
| touch .patched | ||
| fi | ||
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| cd ${SOURCE_DIR} | ||
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| ./configure \ | ||
| --prefix=/home/nao/${INSTALL_ROOT}/ros1_dependencies \ | ||
| --enable-static --host=i686-aldebaran-linux-gnu | ||
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| make -j4 install-exec | ||
| make -j4 install-pkgconfigDATA | ||
| # make install --list-missing -X.la -Xinfo/dir -X.pyc -Xinstall_files.txt -X__pycache__ |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,2 @@ | ||
| escape ^Tt | ||
| hardstatus alwayslastline "%H %-Lw%{= BW}%50>%n%f* %t%{-}%+Lw%<" |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,9 @@ | ||
| #!/bin/bash | ||
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| set -xef -o pipefail | ||
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| source User/user_setup.bash | ||
| screen -c User/screenrc -dmS session bash | ||
| screen -c User/screenrc -S session -p 0 -X stuff "roslaunch jsk_pepper_startup jsk_pepper_startup.launch launch_dashboard:=false network_interface:=wlan0 launch_joy:=false^M" | ||
| sleep 1 # wait for screen to startup | ||
| screen -c User/screenrc -r |
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