RD2 revival #1

jgvictores · 2018-06-22T21:24:42Z

From @jgvictores on May 13, 2018 10:18

RD2 revival

Robot: https://github.com/asrob-uc3m/robotDevastation-robots/tree/develop/rd2 (permalink).

Prototype status: in robotera.

Raspi 1 screwed to chassis
Uses large SD card, has 8GB SDHC (large), seems functional but has Raspian 7 (not 9)
Other issues are regarding number of USBs (only 2, used by camera and wifi) and not accesible without unscrewing
Incorporate custom https://github.com/asrob-uc3m/robotDevastation-robots/tree/develop/scripts
Update documentation accordingly
Fix camera (Unable to launch camera #2)
Fix motor controller (Unable to launch motor controller #3)

Copied from original issue: asrob-uc3m/robotDevastation#134

jgvictores · 2018-06-22T21:24:43Z

Will be focusing on other robots for now, namely RD Ambassador asrob-uc3m/rd-ambassador#1 as it is easy to build (you buy the chassis). 😄

jgvictores · 2018-06-22T21:24:44Z

import->export to https://github.com/asrob-uc3m/rd2

- https://github.com/asrob-uc3m/robotDevastation-user-manual/blob/e274131270d34a7d89a76f0299ee58bcae56ffe9/es/robots/rd2.md - #1

- asrob-uc3m/rd2#1 - asrob-uc3m/rd2@a51a665

PeterBowman · 2018-10-20T14:21:55Z

The command protocol has changed in the last months; therefore, the robot server device run aboard the RD2 robot needs to be updated. Sadly, the CPU is a kinda old RasPi v2 with one single core and outdated packages, for instance, CMake 2.8.9. This means that a git pull of the yarp-devices repo will deliver code that cannot be built with that software. The long term goal should be either migrating to a newer SO (not sure how this goes in the RasPi world) or replacing the CPU with, say, a modern RasPi V3(B). In the meantime, I'll try to backport the new interface/protocol in the commit tree that still worked on YARP 2.3.68.

jgvictores · 2018-10-20T16:47:23Z

From asrob-uc3m/robotDevastation-robots#44 I see that for RD Ambassador at asrob-uc3m/rd-ambassador#1 we have newer Raspis (v2 or even v3b) with Raspian Stretch. Raspian versions are equal to Debian's so https://packages.debian.org/stretch/cmake says we would have a nice cmake 3.7.2-1.

PeterBowman · 2018-10-21T17:01:41Z

In the meantime, I'll try to backport the new interface/protocol in the commit tree that still worked on YARP 2.3.68.

I'd start with the repo state previous to commit asrob-uc3m/yarp-devices@9f777d1 (CMake bumped from 2.8.9 to 3+) and cherry pick asrob-uc3m/yarp-devices@341a73c.

PeterBowman · 2018-10-26T14:31:02Z

Due to working with a one-core Raspi v2, I thought it would be nice to switch SDs with a Raspi v3, but that one only handles MicroSD, while RD2 has a full-sized SD. Apart from that, I have switched from gcc-4.6 to gcc-4.8 (C++11 feature-ready).

jgvictores · 2018-10-26T14:35:50Z

We could work with the microSD on Raspi v3, then fit it in an adapter (there are some in locker 1) for the SD of Raspi v2.

PeterBowman · 2018-11-07T20:37:37Z

At the time of writing, RD2 runs CMake 3.5.2 (no ccmake, yet), YARP 2.3.72.1 with opencv_grabber and the mjpeg carrier, and latest rd-robots and yarp-devices repos. A linker issue was solved via asrob-uc3m/yarp-devices@7db08bd. However, #2 and #3 are now blocking further progress.

PeterBowman · 2018-11-24T13:17:05Z

We could work with the microSD on Raspi v3, then fit it in an adapter (there are some in locker 1) for the SD of Raspi v2.

I forgot to say that this didn't work due to not being able to log in the RasPi v3 (this solution suggested by @jgvictores on chat would require a working keyboard+display). I decided to spend a few hours compiling stuff (CMake took circa 1.5 hours, YARP was 2+).

However, #2 and #3 are now blocking further progress.

Done. Was caused by some obsolete .ini files, which leads us to...

Incorporate custom https://github.com/asrob-uc3m/robotDevastation-robots/tree/develop/scripts

In the first place, I think we should import robotDevastation-robots/share/launch, which actually holds the RD2-related port names and pinout configuration. However, this repository (as other similar robot-oriented) stores 3D models, schematics, pictures, etc. which I'm not especially eager to clone into the onboard RD2's storage just for the sake of copying a few tiny launcher scripts into some system location. Perhaps all config files should remain in robotDevastation-repos, conveniently renamed so that name clashes and conflicts are avoided? @jgvictores I believe you share some of my concerns given asrob-uc3m/robotDevastation-developer-manual#12.

PS see asrob-uc3m/robotDevastation-developer-manual#12 (comment).

jgvictores · 2019-04-03T15:51:18Z

8GB SDHC (large)

Attaching pic of this 8GB SDHC (large) (EDIT: Currently has Rasbian 7, we want 9)

PeterBowman · 2019-04-03T15:58:47Z

It's really large! (You can fit so many wonders into 8 GB.)

jgvictores · 2019-04-03T16:25:25Z

Updated description on Prototype status: in robotera.

Raspi 1 screwed to chassis
Uses large SD card, has 8GB SDHC (large), seems functional but has Raspian 7 (not 9)
Other issues are regarding number of USBs (only 2, used by camera and wifi) and not accesible without unscrewing

jgvictores · 2019-04-03T16:35:35Z

Other issues are regarding number of USBs (only 2, used by camera and wifi) and not accesible without unscrewing

Attaching pic that illustrates this fact

jgvictores · 2019-04-03T16:37:00Z

Also attaching pic of electronics (we're note really sure if it's correct, but at least for now it hasn't crashed on init nor smelt like burnt)

EDIT: Connection seems correct given pinout in inner row:

rp1
rp2 - plastic
rp3 - plastic
rp4 - plastic
rp5 (GND) - GND
rp6 (GPIO 17) - servo
rp7 (GPIO 27) - servo

jgvictores · 2019-06-04T16:29:23Z

Copying Raspi v3b+ contents from microSD to Toshiba 16 GB SD (preserving Lexar 8 GB SD) as explained at http://wiki.asrob.uc3m.es/index.php/Crear_SD_con_Raspbian_y_robotDevastation-robots/raspi_software_(avanzado:_de_cero).

Note: Pending asrob-uc3m/robotDevastation-developer-manual#13) where documentation is being migrated to https://github.com/asrob-uc3m/robotDevastation-developer-manual/tree/master/robots (perma).

jgvictores · 2019-06-25T19:06:00Z

Replicated steps with big Toshiba 16 GB SD (fsarchiver and fdisk as explained staring at asrob-uc3m/rd-ambassador#1 (comment)) and got booting Raspian 9. 🎉

jgvictores · 2020-05-15T15:46:03Z

Turned on today. Raspian 9.8 (stretch). Regarding the two USB ports:

Keyboard: Managed this via a wireless dongle, Logitech does some magic so no pairing is required (once pairing has been done previously on another machine).
Wifi dongle: Not configured to connect to any network, but at least wlan0 interface is up!

jgvictores · 2020-05-17T10:58:56Z

Raspian 9.8 (stretch) comes with cmake version 3.7.2, while YARP requires CMake 3.12 or higher. As https://apt.kitware.com/ PPA looks very Ubuntu-oriented, https://packages.debian.org/stretch-backports/cmake providing 3.16.3-1~bpo9+1 looks like a reasonable option.

jgvictores · 2020-05-17T18:39:21Z

Raspian doesn't release official backports. Ended up compiling cmake (v3.17.2) from source. More than 6 hours on a single-core Raspi 1 (following https://github.com/roboticslab-uc3m/installation-guides/blob/31a01a0390b681f3ce4151d8cba1b8512ae3693c/install-cmake.md#openssl-support-older-distros-and-building-from-sources):

real    368m59.732s
user    330m55.951s
sys     24m16.750s

jgvictores · 2020-05-18T07:47:03Z

On branch yarp-3.3:

[100%] Building CXX object src/yarpdatadumper/CMakeFiles/yarpdatadumper.dir/main.cpp.o
/home/pi/repos/yarp/src/yarpdatadumper/main.cpp: In member function ?virtual void DumpThread::run()?:                                                                                                       
/home/pi/repos/yarp/src/yarpdatadumper/main.cpp:489:52: error: ?fourcc? is not a member of ?cv::VideoWriter?
                 videoWriter.open(videoFile.c_str(),cv::VideoWriter::fourcc('H','F','Y','U'),                                                                                                               
                                                    ^~
src/yarpdatadumper/CMakeFiles/yarpdatadumper.dir/build.make:82: recipe for target 'src/yarpdatadumper/CMakeFiles/yarpdatadumper.dir/main.cpp.o' failed                                                      
make[2]: *** [src/yarpdatadumper/CMakeFiles/yarpdatadumper.dir/main.cpp.o] Error 1
CMakeFiles/Makefile2:5759: recipe for target 'src/yarpdatadumper/CMakeFiles/yarpdatadumper.dir/all' failed                                                                                                  
make[1]: *** [src/yarpdatadumper/CMakeFiles/yarpdatadumper.dir/all] Error 2
Makefile:171: recipe for target 'all' failed                                                                                                                                                                
make: *** [all] Error 2
                                                                                                                                                                                                            
real    267m51.271s
user    245m42.829s                                                                                                                                                                                         
sys     14m15.315s

jgvictores · 2020-05-18T08:35:48Z

Via cmake .. -DYARP_COMPILE_yarpdatadumper:BOOL=OFF (continuing single-core make from where left off):

[100%] Built target yarpmanager-console                                                                                                                                                                     
        
real    0m50.334s                                                                                                                                                                                           
user    0m31.973s
sys     0m16.286s

jgvictores · 2020-05-18T09:50:51Z

After installing dependencies, asrob-uc3m/yarp-devices was:

[100%] Built target RobotServer

real    9m45.548s
user    8m42.032s
sys     0m43.627s

jgvictores · 2020-08-01T19:51:04Z

Wow! Raspi 3 B+ (nproc=4) compiled cmake (v3.17.2) in less than 20 min (compare to the more than 6 hours on Raspi 1 at #1 (comment)).

jgvictores · 2020-08-03T14:25:43Z

Compiling on Raspi 3 B+ but same setup as #1 (comment); yes, yarp-3.3 compiles without GUIs, but it turns out there is an issue with the MJPEG carrier (for the record, using libjpeg8-dev):

/home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.cpp:66:80: error: ‘JCS_EXT_RGBA’ was not declared in this scope
                                                            {VOCAB_PIXEL_RGBA , JCS_EXT_RGBA},
                                                                                ^~~~~~~~~~~~
/home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.cpp:67:80: error: ‘JCS_EXT_BGRA’ was not declared in this scope
                                                            {VOCAB_PIXEL_BGRA , JCS_EXT_BGRA},
                                                                                ^~~~~~~~~~~~
/home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.cpp:68:79: error: ‘JCS_EXT_BGR’ was not declared in this scope
                                                            {VOCAB_PIXEL_BGR , JCS_EXT_BGR} };
                                                                               ^~~~~~~~~~~
/home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.cpp:68:92: error: no matching function for call to ‘std::map<int, J_COLOR_SPACE>::map(<brace-enclosed initializer list>)’
                                                            {VOCAB_PIXEL_BGR , JCS_EXT_BGR} };
                                                                                            ^
In file included from /usr/include/c++/6/map:61:0,
                 from /home/pi/repos/yarp/src/libYARP_sig/src/yarp/sig/Image.h:19,
                 from /home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegStream.h:18,
                 from /home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.h:16,
                 from /home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.cpp:45:
/usr/include/c++/6/bits/stl_map.h:273:9: note: candidate: template<class _InputIterator> std::map<_Key, _Tp, _Compare, _Alloc>::map(_InputIterator, _InputIterator, const _Compare&, const allocator_type&)
         map(_InputIterator __first, _InputIterator __last,
         ^~~
/usr/include/c++/6/bits/stl_map.h:273:9: note:   template argument deduction/substitution failed:
/home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.cpp:68:92: note:   candidate expects 4 arguments, 6 provided
                                                            {VOCAB_PIXEL_BGR , JCS_EXT_BGR} };
                                                                                            ^
In file included from /usr/include/c++/6/map:61:0,
                 from /home/pi/repos/yarp/src/libYARP_sig/src/yarp/sig/Image.h:19,
                 from /home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegStream.h:18,
                 from /home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.h:16,
                 from /home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.cpp:45:
/usr/include/c++/6/bits/stl_map.h:256:9: note: candidate: template<class _InputIterator> std::map<_Key, _Tp, _Compare, _Alloc>::map(_InputIterator, _InputIterator)
         map(_InputIterator __first, _InputIterator __last)
         ^~~
/usr/include/c++/6/bits/stl_map.h:256:9: note:   template argument deduction/substitution failed:
/home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.cpp:68:92: note:   candidate expects 2 arguments, 6 provided
                                                            {VOCAB_PIXEL_BGR , JCS_EXT_BGR} };
                                                                                            ^
In file included from /usr/include/c++/6/map:61:0,
                 from /home/pi/repos/yarp/src/libYARP_sig/src/yarp/sig/Image.h:19,
                 from /home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegStream.h:18,
                 from /home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.h:16,
                 from /home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.cpp:45:
/usr/include/c++/6/bits/stl_map.h:239:9: note: candidate: template<class _InputIterator> std::map<_Key, _Tp, _Compare, _Alloc>::map(_InputIterator, _InputIterator, const allocator_type&)
         map(_InputIterator __first, _InputIterator __last,
         ^~~
/usr/include/c++/6/bits/stl_map.h:239:9: note:   template argument deduction/substitution failed:
/home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.cpp:68:92: note:   candidate expects 3 arguments, 6 provided
                                                            {VOCAB_PIXEL_BGR , JCS_EXT_BGR} };
                                                                                            ^
In file included from /usr/include/c++/6/map:61:0,
                 from /home/pi/repos/yarp/src/libYARP_sig/src/yarp/sig/Image.h:19,
                 from /home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegStream.h:18,
                 from /home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.h:16,
                 from /home/pi/repos/yarp/src/carriers/mjpeg_carrier/MjpegCarrier.cpp:45:
/usr/include/c++/6/bits/stl_map.h:233:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(std::initializer_list<std::pair<const _Key, _Tp> >, const allocator_type&) [with _Key = int; _Tp = J_COLOR_SPACE; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, J_COLOR_SPACE> >; std::map<_Key, _Tp, _Compare, _Alloc>::allocator_type = std::allocator<std::pair<const int, J_COLOR_SPACE> >]
       map(initializer_list<value_type> __l, const allocator_type& __a)
       ^~~
/usr/include/c++/6/bits/stl_map.h:233:7: note:   candidate expects 2 arguments, 6 provided
/usr/include/c++/6/bits/stl_map.h:227:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(std::map<_Key, _Tp, _Compare, _Alloc>&&, const allocator_type&) [with _Key = int; _Tp = J_COLOR_SPACE; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, J_COLOR_SPACE> >; std::map<_Key, _Tp, _Compare, _Alloc>::allocator_type = std::allocator<std::pair<const int, J_COLOR_SPACE> >]
       map(map&& __m, const allocator_type& __a)
       ^~~
/usr/include/c++/6/bits/stl_map.h:227:7: note:   candidate expects 2 arguments, 6 provided
/usr/include/c++/6/bits/stl_map.h:223:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(const std::map<_Key, _Tp, _Compare, _Alloc>&, const allocator_type&) [with _Key = int; _Tp = J_COLOR_SPACE; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, J_COLOR_SPACE> >; std::map<_Key, _Tp, _Compare, _Alloc>::allocator_type = std::allocator<std::pair<const int, J_COLOR_SPACE> >]
       map(const map& __m, const allocator_type& __a)
       ^~~
/usr/include/c++/6/bits/stl_map.h:223:7: note:   candidate expects 2 arguments, 6 provided
/usr/include/c++/6/bits/stl_map.h:219:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(const allocator_type&) [with _Key = int; _Tp = J_COLOR_SPACE; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, J_COLOR_SPACE> >; std::map<_Key, _Tp, _Compare, _Alloc>::allocator_type = std::allocator<std::pair<const int, J_COLOR_SPACE> >]
       map(const allocator_type& __a)
       ^~~
/usr/include/c++/6/bits/stl_map.h:219:7: note:   candidate expects 1 argument, 6 provided
/usr/include/c++/6/bits/stl_map.h:211:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(std::initializer_list<std::pair<const _Key, _Tp> >, const _Compare&, const allocator_type&) [with _Key = int; _Tp = J_COLOR_SPACE; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, J_COLOR_SPACE> >; std::map<_Key, _Tp, _Compare, _Alloc>::allocator_type = std::allocator<std::pair<const int, J_COLOR_SPACE> >]
       map(initializer_list<value_type> __l,
       ^~~
/usr/include/c++/6/bits/stl_map.h:211:7: note:   candidate expects 3 arguments, 6 provided
/usr/include/c++/6/bits/stl_map.h:196:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(std::map<_Key, _Tp, _Compare, _Alloc>&&) [with _Key = int; _Tp = J_COLOR_SPACE; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, J_COLOR_SPACE> >]
       map(map&& __x)
       ^~~
/usr/include/c++/6/bits/stl_map.h:196:7: note:   candidate expects 1 argument, 6 provided
/usr/include/c++/6/bits/stl_map.h:185:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(const std::map<_Key, _Tp, _Compare, _Alloc>&) [with _Key = int; _Tp = J_COLOR_SPACE; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, J_COLOR_SPACE> >]
       map(const map& __x)
       ^~~
/usr/include/c++/6/bits/stl_map.h:185:7: note:   candidate expects 1 argument, 6 provided
/usr/include/c++/6/bits/stl_map.h:174:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(const _Compare&, const allocator_type&) [with _Key = int; _Tp = J_COLOR_SPACE; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, J_COLOR_SPACE> >; std::map<_Key, _Tp, _Compare, _Alloc>::allocator_type = std::allocator<std::pair<const int, J_COLOR_SPACE> >]
       map(const _Compare& __comp,
       ^~~
/usr/include/c++/6/bits/stl_map.h:174:7: note:   candidate expects 2 arguments, 6 provided
/usr/include/c++/6/bits/stl_map.h:162:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map() [with _Key = int; _Tp = J_COLOR_SPACE; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, J_COLOR_SPACE> >]
       map()
       ^~~
/usr/include/c++/6/bits/stl_map.h:162:7: note:   candidate expects 0 arguments, 6 provided
src/carriers/mjpeg_carrier/CMakeFiles/yarp_mjpeg.dir/build.make:95: recipe for target 'src/carriers/mjpeg_carrier/CMakeFiles/yarp_mjpeg.dir/MjpegCarrier.cpp.o' failed
make[2]: *** [src/carriers/mjpeg_carrier/CMakeFiles/yarp_mjpeg.dir/MjpegCarrier.cpp.o] Error 1
CMakeFiles/Makefile2:5724: recipe for target 'src/carriers/mjpeg_carrier/CMakeFiles/yarp_mjpeg.dir/all' failed
make[1]: *** [src/carriers/mjpeg_carrier/CMakeFiles/yarp_mjpeg.dir/all] Error 2
Makefile:171: recipe for target 'all' failed
make: *** [all] Error 2

PeterBowman · 2020-08-03T14:56:22Z

Interesting, it probably deserves an upstream issue. Did you manage to compile previous YARP versions on that same HW/SW?

jgvictores · 2020-08-03T15:17:09Z

AFAIK (or recall), all previous working YARP versions were on Raspian 7, and these are the first attempts with Raspian 9. Nothing serious. It all boils down to:

The yarpdatadumper issue described above. We do not need this (for what it's worth, or any other GUI) on Raspi. In fact, the OS is headless and I installed a whole bunch of deps just to compile the GUIs. I'd leave it as a won't-fix/low-priority, if we ever run into it again, here it is.
The MJPEG carrier issue I just solved via sudo apt install libjpeg62-turbo-dev (previously removing other failed versions: both libjpeg8-dev and libjpeg9-dev)! (thanks: Larry the Git Cow "Depend on 'media-libs/libjpeg-turbo' instead of 'virtual/jpeg', since 'media-libs/jpeg' causes issues such as build failures. Also remove the use of the patch specific to jpeg-9, which is no longer needed after this change." at https://bugs.gentoo.org/648200)

At least in terms of RD/RD2, I think we're good to go with yarp-3.3.

jgvictores added the horizontal label Jun 22, 2018

jgvictores mentioned this issue Jun 22, 2018

RD2 revival asrob-uc3m/robotDevastation#134

Closed

jgvictores added a commit that referenced this issue Jun 22, 2018

import rd2

a51a665

- https://github.com/asrob-uc3m/robotDevastation-user-manual/blob/e274131270d34a7d89a76f0299ee58bcae56ffe9/es/robots/rd2.md - #1

jgvictores added a commit to asrob-uc3m/robotDevastation-user-manual that referenced this issue Jun 22, 2018

Export RD2

c6fdd72

- asrob-uc3m/rd2#1 - asrob-uc3m/rd2@a51a665

PeterBowman self-assigned this Nov 7, 2018

jgvictores mentioned this issue Nov 26, 2018

Define state, clean, and decide fate of this repo asrob-uc3m/robotDevastation-robots#46

Open

PeterBowman mentioned this issue Nov 29, 2018

YarpNetworkManager logout(): Logout failed asrob-uc3m/robotDevastation#140

Closed

jgvictores added the status: in progress label Jun 25, 2019

jgvictores removed the status: in progress label Dec 15, 2019

jgvictores added the status: in progress label May 15, 2020

jgvictores self-assigned this May 15, 2020

jgvictores removed the status: in progress label Apr 10, 2022

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