Robot GiPiGo

BOM¶

Name	Example Shop Link
GoPiGo Kit	https://gopigo.io/gopigo/
Raspberry Pi 4 B - 8 GB Memory Version	https://www.berrybase.de/en/raspberry-pi-4-computer-modell-b-8gb-ram
Raspberry Pi Camera Modules v2	https://www.berrybase.de/en/raspberry-pi-camera-module-8mp-v2
SD Card * 128 GB recommended * 64 GB minimum	https://www.berrybase.de/en/sandisk-extreme-microsdxc-a2-uhs-i-u3-v30-190mb-s-speicherkarte-adapter-128gb
3D Printed Camera Mounts 🛠️ custom, you have to print it.	https://github.com/cloud-native-robotz-hackathon/3dprint-parts
WiFi Router, optional but recommended	https://store-eu.gl-inet.com/collections/new-arrivals/products/flint-3-gl-be9300-tri-band-wi-fi-7-home-router

It is roughly 350 Euro per robot + 200 Euro the optional WiFi router.

Pictures¶

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

gunzip robot-hackathon-image.20260212.img.gz
sudo dd if=robot-hackathon-image.20260212.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", password in Bitwarden collection.
Robot hackathon SSH key (Bitwarden Collection)

Adjust inventory automation/inventory.yaml, add the robot to robots, for example:

robots:
hosts:
  ....
  <NAME OF THE ROBOT>:
    team: team-X
    ansible_host: 192.168.8.xxx

Run playbook to configure the robot

1	`ansible-navigator run ./configure-robot.yaml -l <NAME OF THE ROBOT>`

Login into the robot and reboot.
Now the boot screen should look like this:

Network Setup¶

The robot will automatically connect to a WIFI with the SSID and key/password listed above.
If you want to configure another WIFI, attach a network cable and SSH into the robot (root / from Bitwarden collection) or mount the SD card.

Edit /etc/netplan/50-cloud-init.yaml and add your WIFI access point, reboot or run netplan apply. Config example:

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, you have to run a number of Playbooks against the robot(s).

Clone the GitHub repo infrastructure.

1	`git clone https://github.com/cloud-native-robotz-hackathon/infrastructure.git`

Example inventory:

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

robots:
  hosts:
    abcwarrior:
      team: team-1

The robot name has to resolve of course. If not, use the IP address.

Robot Base Config¶

The Playbook automation/configure-robot.yaml:

Ensures the robot is running image robot-hackathon-image.20260212 before proceeding.
Stops and removes the deprecated edgehub service and its associated files.
Clones and installs edge-controller in a specified version from GitHub to /opt/edge-controller.
Configures, enables, and restarts the edge-controller systemd unit and makes sure it runs.
Updates /etc/issue (login banner), /etc/hosts, and sets the system hostname to match the inventory.

Run it:

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

After the Playbook has run, reboot the robot.

Microshift Reset¶

The Playbook automation/microshift-reset.yaml performs a destructive reset and fresh configuration of MicroShift on the robot. Run it now and whenever the IP or hostname changes:

Calculates current disk usage and aborts the process if it exceeds a predefined disk_limit.
Stops the microshift.service and deletes all existing data in /var/lib/microshift.
Updates /etc/hosts with the robot's local IP and sets the cluster domain in the MicroShift config.
Prepares a kustomization.yaml and a specific Pod manifest (pin-triton.yaml) to pin a Triton server image in the local registry.
Restarts MicroShift and waits for the system to generate a new kubeconfig file.
Prepares the kubeconfig
Waits for the API to respond on port 6443 and provides the exact command needed to export the KUBECONFIG environment variable.

Run it:

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

Optional: Install Self-Register Service¶

Clone the GitHub repo robot-config-service.

1	`git clone https://github.com/cloud-native-robotz-hackathon/robot-config-service.git`

Follow the instructions in the readme to install the service to the robot(s) using Ansible.

After the Playbook has run, reboot the robot to activate the self-registration.

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

  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()

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