Get Rugby Ball working

[AndyBlightLeeds]

• [x] Decide on ROS/Ubuntu version.
• [x] Test with both cameras.
• [x] Update RPi-KB repo with details.
• [x] REpeat on server only version.
• [x] Add flow sensor driver and test.
• [x] Add IMU and test.
• [ ] Add parameters to camera_ros.
• [ ] Write up system launch files.
• [ ] Test performance.
• [ ] Write startup and update procedures.

[AndyBlightLeeds]

Looks like we have to use Ubuntu 22.04LTS for ROS Humble and Iron. Seems a shame that Iron does not use 23.04. Ho hum...

To test cameras, installing Ubuntu 22.04LTS and then install the libcamera stuff. Will test and fix my scripts. 0h30

[AndyBlightLeeds]

Installed Ubuntu 22.04LTS. Now for the pain. Can't get the keyboard map for a UK keyboard. So annoying. Added scripts to setup workspace and install necessary packages. Waiting for them to complete... 2h30 3h00

[AndyBlightLeeds]

Built and installed libcamera and rpicam tools from source. 3h00 6h00 Needed to install later kernel and related modules. Used Lunar kernel (6.2). See <Install kernel image, headers, tools and modules for Lunar. https://askubuntu.com/questions/1483486/can-i-run-a-kernel-newer-than-5-15-on-ubuntu-22-04-on-a-raspberry-pi-4b Need to install image, modules, headers, tools. history sudo apt install linux-image-6.2.0-1017-raspi linux-raspi-headers-6.2.0-1017 linux-modules-6.2.0-1017-raspi linux-raspi-tools-6.2.0-1017 DMA Heap problem: Add udev rules file and add user to video group. https://raspberrypi.stackexchange.com/questions/141106/how-to-fix-the-libcamera-error-could-not-open-any-dmaheap-device 3h00 9h00

[AndyBlightLeeds]

Works with RPi v3 camera. Now to document it properly.

[AndyBlightLeeds]

Tested with both cameras. Works with rpicam-hello. 0h30 9h30

[AndyBlightLeeds]

Documenting process. Getting rpicam tools to build. 5h30 15h00

[AndyBlightLeeds]

Completed documentation and changes pushed. fdfc7ae7c22da43f655448dc3dbc27354164512c 2h30 17h30

[AndyBlightLeeds]

Testing build on server version. Going to take a while. Lots of updates etc. Next step is to prove the camera works from the command line after the install. This looks promising... From https://raspberrypi-guide.github.io/electronics/image-and-video-recording

import picamera

camera = picamera.PiCamera()
camera.resolution = (640, 480)
camera.start_recording('my_video.h264')
camera.wait_recording(60)
camera.stop_recording()

[AndyBlightLeeds]

Test camera on server. Need to do a command line record of video. Also need to setup SSH.

[AndyBlightLeeds]

Auto boot example here: https://discourse.ros.org/t/automatic-launch-on-os-startup/23462/5

[AndyBlightLeeds]

Made a recording using the command rpicam-vid -o test.h264 --width 1920 --height 1080, copied the result to a USB stick and it played back. Server image ready for testing on the Zero. 5h20 22h50

[AndyBlightLeeds]

Flow sensor builds OK. 0h30 23h20

[AndyBlightLeeds]

Wrote and tested IMU driver on https://github.com/RealRobotics/icm20948-ros2/issues/1 Hours on that issue.

[AndyBlightLeeds]

Started on flow sensor. See #2