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Robot

Setup Robot from Scratch

This should only be neccessary with a new robot or when repairing/updating/replacing a robot.

Install image and prepare robot

  • Download image Ubuntu 22.04, Microshift 4.8 : https://drive.google.com/file/d/139K2DgZnrxKIiAU-ErjdPXQHGoGOXubV
  • Write to SD Card, will be resized to SD Card size at first boot 
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    gunzip robot-hackathon-image.20240726.img.gz
sudo dd if=robot-hackathon-image.20240726.img of=/dev/sdXXX status=progress
  • The image will be resized to SD card size on first boot
  • The image is preconfigured with:
  • Automatic connection to the hackathon WIFI "robot-hackathon-78b09"
  • Robot hackathon SSH key (Bitwarden Collection)

Network Setup

  • If you want to configure another WIFI, attach a network cable and SSH into the robot (root / from Bitwarden collection)

  • For WLAN edit /etc/netplan/50-cloud-init.yaml and add your WLAN access point, reboot or run netplan apply. Config example:

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    network:
    ethernets:
        eth0:
            dhcp4: true
            optional: true
    version: 2
    Wifis:
        wlan0:
        access-points: 
        "robot-hackathon-78b09":
            password: "PASSWORD"
        "otherssid":
            password: "<PASSWORD>"
        dhcp4: true

Finish configuration

To finish the configuration, run the Playbook [automation/configure-robot.yaml](https://github.com/cloud-native-robotz-hackathon/infrastructure/blob/main/automation/configure-robot.yaml) against the robot.

Example inventory:

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---
all:
  vars:
    ansible_user: root
    ansible_ssh_private_key_file: ~/.ssh/robot-hackathon

robots:
  hosts:
    abcwarrior.lan:
      team: team-1

Run Ansible:

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robot-hackathon/infrastructure/automation$ ansible-navigator run configure-robot.yaml -i myinventory.yaml

And again to reset Microshift

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robot-hackathon/infrastructure/automation$ ansible-navigator run microshift-reset.yaml -i myinventory.yaml

Camera Setup (Raspi camera v2)

Playbook camera-test.yaml is here https://github.com/cloud-native-robotz-hackathon/infrastructure/tree/main/robot

  • Cable orientation: blue “bar” on cable oriented to USB ports, blue bar at camera away from lens
  • Test camera is detected: vcgencmd get_camera
  • Script to test image acquisition
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  import cv2
  # open camera
  cap = cv2.VideoCapture('/dev/video0', cv2.CAP_V4L)

  # set dimensions
  cap.set(cv2.CAP_PROP_FRAME_WIDTH, 2560)
  cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1440)

  # take frame
  ret, frame = cap.read()
  # write frame to file
  cv2.imwrite('/root/ramfilesystem/image.jpg', frame)
  # release camera
  cap.release()

Microshift

Playbook microshift-reset.yaml is here https://github.com/cloud-native-robotz-hackathon/infrastructure/tree/main/robot

  • To reset Microshift: systemctl stop microshift.service; rm -rf /var/lib/microshift; systemctl start microshift.service
  • To use oc locally: export KUBECONFIG=/var/lib/microshift/resources/kubeadmin/kubeconfig
  • Or cat /var/lib/microshift/resources/kubeadmin/kubeconfig > ~/.kube/config

Triton

https://docs.nvidia.com/deeplearning/triton-inference-server/user-guide/docs/getting_started/quickstart.html

Check model curl --location --request GET 'http://localhost:8000/v2/models/densenet_onnx/stats'

Bill of materials

# Item price in Euro Example Shop
1 GoPiGo Kits 178 https://gopigo.io/gopigo/
2 Raspberry Pi 4 B - 8 GB Memory Version 79 https://www.berrybase.de/raspberry-pi-4-computer-modell-b-8gb-ram
3 Raspberry Pi Camera Modules v2 17 https://www.berrybase.de/raspberry-pi-camera-module-8mp-v2
4 3D Printed Camera Mounts Custom, you have to print it. 30 https://github.com/cloud-native-robotz-hackathon/3dprint-parts