mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
removed irrlevant docs
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Ruixiang Du
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# Setup CAN on Beaglebone Black
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CAN/RS485 Cape: https://item.taobao.com/item.htm?spm=a1z09.2.0.0.68b02e8d02l2uT&id=42637485181&_u=a4mg52ma183
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* Install latest Debian image from offical site
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* Build and install overlays
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```
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$ sudo apt install device-tree-compiler
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$ git clone https://github.com/beagleboard/bb.org-overlays
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$ cd ./bb.org-overlays/
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$ ./install.sh
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```
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* Edit /boot/uEnv.txt
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```
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# 1. Add the following overlay
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###Custom Cape
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dtb_overlay=/lib/firmware/BB-CAN1-00A0.dtbo
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# 2. Disable auto loading of virutal capes (uncomment the two lines)
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disable_uboot_overlay_video=1
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disable_uboot_overlay_audio=1
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```
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* Reboot the system
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```
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$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu stretch main" > /etc/apt/sources.list.d/ros-latest.list'
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$ wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
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$ sudo apt-get update
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```
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```
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$ sudo apt-get install -y python-pip python-setuptools python-yaml python-distribute python-docutils python-dateutil python-six
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$ sudo pip install rosdep rosinstall_generator wstool rosinstall
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$ sudo apt-get install -y \
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libconsole-bridge-dev liblz4-dev checkinstall cmake \
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python-empy python-nose libbz2-dev \
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libboost-test-dev libboost-dev libboost-program-options-dev \
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libboost-regex-dev libboost-signals-dev \
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libtinyxml-dev libboost-filesystem-dev libxml2-dev \
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libgtest-dev libpoco-dev
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```
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```
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$ sudo rosdep init
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$ rosdep update
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```
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```
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$ rosinstall_generator ros_comm --rosdistro melodic --deps --tar > melodic-ros_comm.rosinstall
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$ wstool init -j1 src melodic-ros_comm.rosinstall
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```
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```
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$ # rosdep install --from-paths src --ignore-src --rosdistro melodic -y
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$ sudo ./src/catkin/bin/catkin_make_isolated --install --install-space /opt/ros/melodic -DCMAKE_BUILD_TYPE=Release
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```
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```
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$ source /opt/ros/melodic/setup.bash
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```
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Additional runtime dependencies:
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```
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$ sudo apt install -y python-defusedxml python-netifaces
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```
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```
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$ sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
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```
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Reference:
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* [1] https://machinekoder.com/ros-with-debian-stretch-on-the-beaglebone-black-green-blue/
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* [2] http://wiki.ros.org/melodic/Installation/Source
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File diff suppressed because it is too large
Load Diff
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# Commands
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## Create gif animation using "imagemagick"
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```
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$ convert -delay 120 -loop 0 *.png animated.gif
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```
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## Get statistics of the code base
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```
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$ sudo apt install cloc
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$ cd ~/Workspace/librav/src
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$ cloc --exclude-dir=cmake,lcmtypes,third_party .
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```
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## Create a pair of VSP’s
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```
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$ socat -d -d pty,raw,echo=0 pty,raw,echo=0
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```
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```
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$ cat nmea_test.txt > /dev/pts/6
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```
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## git subtree
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Adding the sub-project as a remote
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```
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$ git remote add -f [remote-name] [remote-url]
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$ git subtree add --prefix [sub-project-name] [remote-name] [branch-name] --squash
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```
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Update the sub-project
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```
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$ git fetch [remote-name] [branch-name]
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$ git subtree pull --prefix [sub-project-name] [remote-name] [branch-name] --squash
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```
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Push to remote
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```
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$ git subtree push --prefix=[sub-project-name] [remote-name] [branch-name]
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```
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Firmware branch update
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```
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$ git fetch fw_origin pios_pixcar
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$ git subtree pull --prefix firmware fw_origin pios_pixcar --squash
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```
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## Reference
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* [Git subtree: the alternative to Git submodule](https://www.atlassian.com/blog/git/alternatives-to-git-submodule-git-subtree)
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* [Virtual serial port: socat](https://justcheckingonall.wordpress.com/2009/06/09/howto-vsp-socat/)
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# Enable CAN on Jetson TX2
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```
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$ sudo modprobe can
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$ sudo modprobe mttcan
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$ sudo ip link set can0 type can bitrate 500000
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$ sudo ip link set up can0
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```
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Reference:
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* https://devtalk.nvidia.com/default/topic/1006762/jetson-tx2/how-can-i-use-can-bus-in-tx2-/post/5166583/#5166583
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@@ -1 +0,0 @@
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* Disable tests to keep minimal dependency by default
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@@ -1,7 +0,0 @@
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can1 131 [8] 00 00 00 00 00 00 E4 1E
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can1 141 [8] 00 00 00 02 0E 00 E3 3D
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can1 151 [8] 01 00 00 EF 00 3C E5 6B
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can1 200 [8] 00 00 00 00 00 00 EA F4
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can1 201 [8] 00 00 00 00 00 00 EA F5
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can1 202 [8] 00 00 00 00 00 00 EA F6
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can1 203 [8] 00 00 00 00 00 00 EA F7
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