Monday, January 18, 2016

MobileSim - Simulator for Pioneer (MobileRobots) Robots

Windows 10

Aria 2.9.0.1  (32bits)
MobileSim 0.7.2

Status:
  • 2016.01.18 - Simulator (MobileSim) is working. Python example (simple.py) is working with MobileSim.

Todo:
  • Test java example.
Instalation on Windows:
  • Download and install ARIA SDK.
  • Configure PATH system variable - C:\Development\Aria_2.9.0-1_32bit\bin;C:\Development\Aria_2.9.0-1_32bit\python;C:\Development\Aria_2.9.0-1_32bit\java
  • Configure PYTHONPATH system variable - C:\Development\Aria_2.9.0-1_32bit\python
  • Download and install MobileSim.
Testing Python Examples:
  • cd \Development\Aria_2.9.0-1_32bit\PythonExamples
  • Start MobileSim, with C:\Development\Aria_2.9.0-1_32bit\maps\triangle.map
  • python simple.py




References:
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Wednesday, June 24, 2015

Installing Ubuntu 12.04 and ARIA (Pioneer API) on BeagleBone (White)

Windows 7
Ubuntu 12.04
Win32DiskImager
PuTTY 0.63
ARIA 2.9.0

Status:
  • 2015.06.24 - "ARIA has been installed in /usr/local/Aria".
  • 2015.06.24 - "ARIA has been installed in /usr/local/Aria" on Ubuntu 14.04. But ARIA APIs and demo app are running an error "ImportError: /usr/local/Aria/python/_AriaPy.so: cannot open shared object file:"

Installing Ubuntu 14.04 for BeagleBone:
  • Download Ubuntu for BeagleBone microSD card image (bone-ubuntu-14.04.2-console-armhf-2015-06-11-2gb.img.xz).
  • Write image to microSD card using Win32DiskImager.
  • Boot BeagleBone Board with RJ45 pluged.
  • Access BeagleBone with SSH client (user: ubuntu pass: temppwd)
  • Change sudo password:
  • sudo -i
  • passwd (ubuntu)
  • exit


Compiling ARIA from sources:
  • Installing dependencies to compile de sources:
  • sudo apt-get install binutils-multiarch gcc-4.6 build-essential swig python-dev python-setuptools python-serial
  • Configuring Enviroment to recompile ARIA files from sources:
  • Create PYTHONPATH and PYTHON_INCLUDE system variable:
  • sudo nano ~/.bashrc
  • Include these four lines below at the end of this file:
  • PYTHONPATH="/usr/local/Aria/python:${PYTHONPATH}"
  • export PYTHONPATH
  • PYTHON_INCLUDE="/usr/include/python2.7:${PYTHON_INCLUDE}"
  • export PYTHON_INCLUDE
  • Start a new shell or reload the config file by running the command below:
  • source ~/.bashrc
  • Download ARIA 2.9.0 - Other 32-bit Linux systems (Generic compressed TAR archive) with GCC 4.6
  • cd ~/
  • wget http://robots.mobilerobots.com/ARIA/download/current/ARIA-2.9.0+gcc4.6.tgz
  • tar -xzvf ARIA-2.9.0+gcc4.6.tgz
  • cd Aria-2.9.0/
  • sudo make install
  • The result is listed below:
------------------------------------------------------------------------------------
ARIA has been installed in /usr/local/Aria.

To be able to use the ARIA libraries, you must now add /usr/local/Aria/lib
to your LD_LIBRARY_PATH environment variable, or to the /etc/ld.so.conf system file,
then run 'ldconfig'
------------------------------------------------------------------------------------


  • Rebuild Python wrapper Library:
  • sudo nano ~/Aria-2.9.0/Makefile
  • CXX:=g++-4.6
  • PYTHON_INCLUDE:=/usr/include/python2.7
  • PYTHON_INCLUDE_FLAGS=-I/usr/include/python2.7
  • sudo make python   (zzz... +- 1h)
  • Setting enviroment variable:
  • sudo nano /etc/ld.so.conf.d/aria.conf
  • Include these two lines (below) on this file:
  • include /usr/local/Aria/lib
  • include /usr/local/Aria/python
  • configure dynamic linker run-time bindings:
  • sudo ldconfig


References:

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Sunday, April 12, 2015

Raspbian - Stream - Webcam+Motion Or Pi Camera+MMAL Motion

Raspbian v2015-02-16
Motion
MMAL Motion

Status:

  • 20150412 - It's working.
Notes:
  • Pi camera works at 10~14fps.
  • Webcam works at 30?fps.
  • Using 50% for jpeg quality and size: 256x144px (Pi Camera).
  • With this configuration, CPU use is about  33%~96% for motion with webcam, and about 19%~53% for mmal-motion and Pi Camera.
  • It only works with firefox (Windows and Android? version).

Installing Motion for Webcam:

  • Install Motion:
  • sudo mkdir /home/webcam
  • sudo chmod 777 /home/webcam
  • cd /home/webcam
  • sudo apt-get install motion
  • Configure Motion:
  • sudo nano /etc/motion/motion.conf
  • Changing config file:
  • daemon on
  • framerate 15
  • threshold 500
  • gap 10
  • max_mpeg_time 30
  • output_normal center
  • ffmpeg_video_codec msmpeg4
  • target_dir /home/webcam
  • webcam_motion on
  • webcam_maxrate 30
  • webcam_port 8085
  • webcam_localhost off
  • Configure autostart of Motion:
  • sudo nano /etc/default/motion
  • Start Motion:
  • sudo motion
  • Troubleshooting:
  • "cannot create process id file ..."
  • mkdir /var/run/motion
  • chmod a+rwxt /var/run/motion

Testing Motion for Webcam:

  • http://<Raspberry-pi_IP-address>:8085

Installing MMAL Motion for Pi Camera:

  • Install Motion, dependencies and MMAL Motion:
  • sudo apt-get install motion libjpeg62
  • cd ~/
  • mkdir mmal
  • cd mmal
  • wget https://www.dropbox.com/s/jw5r1wss32tdibb/motion-mmal-opt.tar.gz
  • tar -zxvf motion-mmal-opt.tar.gz
  • cd ./motion-mmal
  • Configure Motion:
  • nano motion-mmalcam.conf
  • Changing config file:
  • daemon on
  • gap 10
  • mmalcam_secondary_buffer_upscale 2
  • stream_secondary off  (ON to use with mmalcam_secondary_buffer_upscale)
  • output_secondary_pictures off  (ON to use with mmalcam_secondary_buffer_upscale)
  • ffmpeg_output_secondary_movies off (ON to use with mmalcam_secondary_buffer_upscale)
  • Start MMAL Motion:
  • cd ~/mmal/motion-mmal/
  • ./motion-mmal -n -c motion-mmalcam.conf
Testing  MMAL Motion for Pi Camera:
  • http://<Raspberry-pi_IP-address>:8081


References:

Other options for Streaming:
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Sunday, April 5, 2015

Raspbian - Pi Camera - MJPG-Streamer and Raspistill

Raspbian v2015-02-16
MJPG-Streamer v182
Raspistill


Status:

  • 20150505 - Its working. 
Notes:
  • Since pi camera is 5Mpx and HD, we're using 854x480 resolution.
  • Pi camera works at 1~2fps.
  • Using "Sport" exposure option to reduce distortion generated by the moviment.
  • Using 50% for jpeg quality (file size = +- 200kb. If use 10% then +-23Kb, else if 34% then +-150kb, else if 75% then +-240kb, else if  1280x720x50% than +-510kb).
  • With this configuration, CPU use is about  2%~3% for raspistill and +-2% for mjpg-streamer.
  • Using 640x360x50% results in 100kb file size.
  • It works with firefox and chrome (Windows and Android versions).

ToDo:

  • Compare performances (mjpg-streamer-raspistill / motion).

Installing:

  • Enabling Pi Camera:
  • sudo raspi-config
  • Select Enable camera and hit Enter, then go to Finish and you'll be prompted to reboot.
  • Install build dependencies:
  • sudo apt-get install libjpeg8-dev imagemagick libv4l-dev
  • Add missing videodev.h:
  • sudo ln -s /usr/include/linux/videodev2.h /usr/include/linux/videodev.h
  • Download MJPG-Streamer:
  • wget http://sourceforge.net/code-snapshots/svn/m/mj/mjpg-streamer/code/mjpg-streamer-code-182.zip
  • Unzip the MJPG-Streamer source code:
  • unzip mjpg-streamer-code-182.zip
  • Build MJPG-Streamer:
  • cd mjpg-streamer-code-182/mjpg-streamer
  • make mjpg_streamer input_file.so output_http.so
  • Install MJPG-Streamer:
  • sudo cp mjpg_streamer /usr/local/bin
  • sudo cp output_http.so input_file.so /usr/local/lib/
  • sudo cp -R www /usr/local/www
  • Start the camera and MJPG-Streamer:
  • mkdir /tmp/stream
  • raspistill --nopreview -w 640 -h 480 -q 5 -o /tmp/stream/pic.jpg -tl 100 -t 9999999 -th 0:0:0 & LD_LIBRARY_PATH=/usr/local/lib mjpg_streamer -i "input_file.so -f /tmp/stream -n pic.jpg" -o "output_http.so -w /usr/local/www"
  • Cleanup (removing source code files):
  • cd ../../
  • rm -rf mjpg-streamer-182

Testing:

  • http://<Raspberry-pi_IP-address>:8080

References:

Other options for Streaming:
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Saturday, December 6, 2014

Raspberry Pi - Using eSpeak with Pidora

Raspberry Pi
Pidora 2014
eSpeak 1.47.11
Status:

  • It's working.
Install:
  • login as root:
  • yum install espeak
Test:
  • Login as an user (not root):
  • espeak "testing with espeak"
  • espeak testing,with,espeak
  • espeak -vpt "testando a voz da lingua portuguesa"
Troubleshotting:
  • Don't run espeak with root user, it will freeze and only will work again after reboot;
  • eSpeak was interfered by alsa-tools*, xdotool and libxdo;
  • Sometimes espeak freezes when it's trying to speak a word with incorrect syntax;
  • Sometimes espeak freezes, or just don't tell anything, if it receives two commands in a short time.
References:



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Sunday, November 30, 2014

Installing MySql on Pìdora 2014

Pidora 2014
Apache HTTPD
MySQL 5.5.28


Status:

  • 20141130 Working on it.
  • 20141207 It's working.
ToDo:
  • Import robot database in to this server.
Installing:
  • Install MySql from old repository (fc18):
  • Downloads:
  • cd ~/Downloads
  • wget http://pidora.ca/pidora/releases/18/packages/armv6hl/os/Packages/m/mysql-server-5.5.28-1.fc18.armv6hl.rpm
  • wget http://pidora.ca/pidora/releases/18/packages/armv6hl/os/Packages/m/mysql-5.5.28-1.fc18.armv6hl.rpm
  • wget http://pidora.ca/pidora/releases/18/packages/armv6hl/os/Packages/m/mysql-libs-5.5.28-1.fc18.armv6hl.rpm
  • Login as root:
  • cd ~/Downloads
  • yum install perl-DBD-MySQL.armv6hl (mariadb and mariadb-server does not work)
  • rpm -i mysql-libs-5.5.28-1.fc18.armv6hl.rpm
  • rpm -i mysql-5.5.28-1.fc18.armv6hl.rpm
  • rpm -i mysql-server-5.5.28-1.fc18.armv6hl.rpm
  • Activate service and start mysql:
  • chkconfig mysqld on
  • service mysqld start

Testing:

  • Change mysql root password:
  • mysql
  • UPDATE mysql.user SET Password=PASSWORD('123456') WHERE User='root';


References:
MariaDB vs. MySQL
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Raspberry Pidora with Arduino Uno

Pidora
Arduino Uno R3
Python 2.7.8
PySerial 2.7


Status:

  • 20141130 It's working.
Installing PySerial:
  • mkdir ~/pyserial
  • cd ./pyserial
  • Download PySerial sources:
  • wget http://pypi.python.org/packages/source/p/pyserial/pyserial-2.7.tar.gz
  • gzip -d -r ./pyserial-2.7.tar.gz
  • tar -xvf pyserial-2.7.tar
  • cd pyserial-2.7
  • su
  • pwd
  • python setup.py install
Testing PySerial:
  • python
  • import serial
  • ser=serial.Serial(port='/dev/ttyACM0', baudrate=500000, timeout=1)
  • print ser.readline()
  • ser.write("100:1:200:0\n")
  • ser.write("000:1:000:0\n")
References:
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