Upgrading to noetic branch?

[anfederman]

As far as I can tell, the kinetic branch works in noetic, and the only thing that needs changing is the documentation. We need to explain the different camera mounting points and whether the camera is flipped in breadcrumb relative to the standard Magni Silver upward/forward/ahead.

[JanezCim]

you are right, i've updated README and created branch noetic-devel. Can you please take a look and confirm its good for you https://github.com/UbiquityRobotics/raspicam_node/tree/noetic-devel . Then we can set it as default branch.

We need to explain the different camera mounting points and whether the camera is flipped in breadcrumb relative to the standard Magni Silver upward/forward/ahead.

I dont think this belongs under this repo since this only concerns camera drivers

[anfederman]

NO this is not good for me. raspicam_flip branch is closer to being correct. While the noetic_devel branch will give you an image, I don't think it works as is for fiducials, because the camera oreintation is likely to break fiducial_follow, dnn_rotate and I can't seem to make it work in magni_nav aruco_detect.

[anfederman]

I got raaspicam_flip working on ARM64 server, once gdm3, Lubuntu and the the bin and lib were added.

On Thu, Mar 31, 2022, 7:54 AM Janez Cimerman @.***> wrote:

Assigned #127 https://github.com/UbiquityRobotics/raspicam_node/issues/127 to @anfederman https://github.com/anfederman.

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[leahcornelius]

@anfederman Could you expand on that? Im trying to get this working on a rpi 4 running ubuntu server 20.04 & ROS noetic. Would you recommend the raspicamflip branch? If so what are the extra dependencies I need to install?

[anfederman]

I need a little bit more information about what you are trying to do. As far as I know on a Raspberry pi 4, you can only get raspicam_ node working in arm32.

On Fri, Feb 10, 2023, 12:31 PM Leah Cornelius @.***> wrote:

@anfederman https://github.com/anfederman Could you expand on that? Im trying to get this working on a rpi 4 running ubuntu server 20.04 & ROS noetic. Would you recommend the raspicamflip branch? If so what are the extra dependencies I need to install?

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[anfederman]

Here are my notes on building arm64 Focal for noetic. I think this works with Raspicam_node.

I don't think, however, the same is true for Ubuntu 22.04 - raspicam-node won't work.

On Fri, Feb 10, 2023 at 12:31 PM Leah Cornelius @.***> wrote:

@anfederman https://github.com/anfederman Could you expand on that? Im trying to get this working on a rpi 4 running ubuntu server 20.04 & ROS noetic. Would you recommend the raspicamflip branch? If so what are the extra dependencies I need to install?

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Starting from a Pi ARM64 server install add wifi by editing the netplan:

edit config.txt in /boot/firmware so

kernel=vmlinuz initramfs initrd.img followkernel

(this allows to ignore serial console on boot - since the MCB uses that port)

edit cmdline.txt in /boot/firmware so looks like this:

dwc_otg.lpm_enable=0 console=tty1 ..... (on magni other usb port used for motor)

15 sudo vi /etc/netplan/50-cloud-init.yaml 16 sudo netplan --debug apply 17 ifconfig 18 sudo apt update

add netools and ssh

19 sudo apt install net-tools openssh-server 20 sudo apt upgrade

29 ifconfig

add desktop 30 sudo apt-add-repository ppa:lubuntu-desktop/ppa 31 sudo apt install lubuntu-desktop

Add camera support libraries and test:

0 sudo apt install libraspberrypi-bin libraspberrypi-dev 41 raspistill -o test.jpg

make sure config has start_x=1 and gpu_mem=128 specified 44 cd /boot 45 ls 46 cd firmware/ 47 ls *.txt 48 more config.txt 49 more cmdline.txt 50 sudo vi config.txt

Install ros noetic desktop full and other ubiquity nodes from debs or git:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt install curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

source /opt/ros/noetic/setup.bash roscd sudo rosdep init rosdep update

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool ls

cd mkdir -p ~/catkin_ws/src cd catkin_ws/ catkin_make cd src/ (if apt doesn't find) git clone http://github.com/ubiquityrobotics/raspicam_node cd .. source ~/catkin_ws/devel/setup.bash roscd cd cd catkin_ws/ catkin_make roslaunch raspicam_node camerav2_410x308_30fps.launch history cd catkin_ws/src/ (if can't apt- or alternative branch) git clone http://github.com/ubiquityrobotics/magni_robot git clone http://github.com/ubiquityrobotics/pi_sonar git clone http://github.com/ubiquityrobotics/oled_display git clone http://github.com/ubiquityrobotics/oled_display_node git clone http://github.com/ubiquityrobotics/ubiquity_motor cd .. ls src cd .. catkin_make cd catkin_ws/ git clone http://github.com/wjwwood/serial wget https://github.com/joan2937/pigpio/archive/master.zip unzip master.zip cd pigpio-master/ make sudo make install cd git clone http://github.com/ubiquityrobotics/fiducials cd .. catkin_make --pkg fiducials sudo apt install ros-noetic-vision-msgs catkin_make --pkg fiducials rostopic list sudo apt install ros-noetic-aruco-detect roscd source .bashrc roscd

finally copy camera_info to .ros

raspicam_node launch followed by aruco_detect.launch work