Husarion OS for ROSBot not able to install patch

[BrendanxP]

I am trying to get Nexmon working directly on the hardware that drives the ROSBot 2R, which is a Raspberry Pi 4B. They have pre-built images for the robots, called Husarion OS, with multiple versions based on different Linux kernels. I have tried getting the toolbox to work on two of the versions, but both fail to install the patch and end up in an error during make install firmware. I followed the guide precisely as stated, though, I had to add sources to install the raspberrypi-headers. I did get it installed on Raspberry Pi OS with closely similar Linux kernels. Therefore, I am confused about what adjustments in these images from Husarion could cause the toolbox to not install at all.

1. Version: ROS2 Humble on top of Ubuntu 22 Direct download link Ubuntu 22.04.03 LTS (Jammy Jellyfish) Kernel: 5.15.0-1041-raspi Architecture: Aarch64

The error it gives: COLLECTING STATISTICS read /home/husarion/nexmon/STATISTICS.md for more information COMPILING src/version.c => obj/version.o (details: log/compiler.log) GENERATING LINKER FILE gen/nexmon.pre => gen/nexmon.ld GENERATING LINKER FILE gen/nexmon.pre => gen/flashpatches.ld LINKING OBJECTS => gen/patch.elf (details: log/linker.log, log/linker.err) GENERATING MAKE FILE gen/nexmon.pre => gen/nexmon.mk GENERATING MAKE FILE gen/nexmon.pre => gen/flashpatches.mk APPLYING FLASHPATCHES gen/flashpatches.mk => brcmfmac43455-sdio.bin (details: log/flashpatches.log) APPLYING PATCHES gen/nexmon.mk => brcmfmac43455-sdio.bin (details: log/patches.log) BUILDING DRIVER for kernel 5.15 brcmfmac_5.15.y-nexmon/brcmfmac.ko (details: log/driver.log) COPYING brcmfmac43455-sdio.bin => /lib/firmware/brcm/brcmfmac43455-sdio.bin RELOADING brcmfmac insmod: ERROR: could not insert module /home/husarion/nexmon/patches/driver/brcmfmac_5.15.y-nexmon/brcmfmac.ko: Unknown symbol in module make: *** [Makefile:192: install-firmware] Error 1

2. Version ROS Noetic on top of Ubuntu 20 Direct download link Ubuntu: 20.04.6 LTS (Focal Fossa) Kernel: 5.4.0-1052-raspi

The error it gives: COLLECTING STATISTICS read /home/husarion/nexmon/STATISTICS.md for more information COMPILING src/ioctl.c => obj/ioctl.o (details: log/compiler.log) /bin/sh: 1: /home/husarion/nexmon/buildtools/gcc-arm-none-eabi-5_4-2016q2-linux-armv7l/bin/arm-none-eabi-gcc: not found make: *** [Makefile:123: obj/ioctl.o] Error 127 Even though the file does exist and has perfect ownership and r/w/x rights.

Any help is appreciated. I only need one version to run, so either the ROS2 Humble or ROS Noetic is fine, whichever is easier to fix.

[jlinktu]

The brcmfmac with its modifications, the Makefiles, and the firmware patches are made to work with Raspberry Pi OS (README). If you want to adapt it to work with Husarion OS, e.g. ROS 2 Humble, get the corresponding kernel sources (as it is based on Ubuntu linux-raspi you might want to look here) and adapt brcmfmac s.t. you can use nexmon firmwares with it. You might also need to use a different firmware..in the ROS 2 Humble image you linked, the firmware is located here: /usr/lib/firmware/brcm/brcmfmac43455-sdio.bin. Of course you also have to adapt the Makefiles to work under Husarion OS instead of Raspberry Pi OS.

[BrendanxP]

The brcmfmac with its modifications, the Makefiles, and the firmware patches are made to work with Raspberry Pi OS (README). If you want to adapt it to work with Husarion OS, e.g. ROS 2 Humble, get the corresponding kernel sources (as it is based on Ubuntu linux-raspi you might want to look here) and adapt brcmfmac s.t. you can use nexmon firmwares with it. You might also need to use a different firmware..in the ROS 2 Humble image you linked, the firmware is located here: /usr/lib/firmware/brcm/brcmfmac43455-sdio.bin. Of course you also have to adapt the Makefiles to work under Husarion OS instead of Raspberry Pi OS.

Thank you @jlinktu, this is very helpful. I will have a look if I can get it to work like you described!