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Robot - GoPiGo

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.

Step 1) Install image

  • Download latest image Ubuntu 22.04, Microshift 4.8 from: https://drive.google.com/drive/folders/1huFhZTknLdMx4BAWrlbNhOonxboOjHLn
  • Write to SD Card, will be resized to SD Card size at first boot 
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    gunzip robot-hackathon-image.<version>>.img.gz
sudo dd if=robot-hackathon-image.<version>.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)

Step 2) Network & Hostname configuration

  • Boot robot with new image

  • Go to Wifi router Admin page: https://192.168.8.1 (Admin password is stored in Bitwarden, collection Robot hackathon item Wifi router admin access)

    • Navigate to "CLIENTS", findout new "Unknown" IP address:

  • Connect to the robot to configure the hostname:

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    ssh -i ~/.ssh/robot-hackathon -l root 192.168.8.<REPLACE IP>

    Optional check via camera where you are:

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    curl -L -O https://raw.githubusercontent.com/cloud-native-robotz-hackathon/infrastructure/refs/heads/v3/robot/lights-on.py
chmod +x ./lights-on.py
./lights-on.py

    (If available) open via Browser: http://192.168.8.<REPLACE IP>:8000/testimage.jpg

    Change hostname and reboot via:

    Pick robot name aka hostname from the nine robot travel kit or choose your own. When choosing your own make sure to update the env robot mapping in the provisioning form and the ansible inventory

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    hostnamectl set-hostname <REPLACE_ROBOT_NAME>
reboot

  • Now the robot should appear with the right hostname aka robot name

  • Toggle/Enable the "Reserved IP" switch

Step 3) Finish configuration via ansible

To finish the configuration, you have to run a number of Playbooks against the robot(s) from your laptop.

Clone the GitHub repo infrastructure.

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

The Playbook automation/bootstrap-robot.yaml does the following steps:

  • Ensures the robot is running latest image before proceeding.
  • Clones and installs edge-controller in a specified version from GitHub to /opt/edge-controller.
  • Clones and installs robot-config-service in a specified version from GitHub to /opt/robot-config-service.
  • 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.

Create the vars file with the connection details and run the Playbook. You can get these values from the Readme in the referenced Github repo and the Bitwarden vault.

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cd automation/

echo "rcs_git_repo: https://github.com/cloud-native-robotz-hackathon/robot-auto-register-78b09.git" > group_vars/all/robot-config-service.yaml
echo "rcs_gh_token: github_pat_xxx" >> group_vars/all/robot-config-service.yaml
echo "rcs_hubcontroller_user: hub-controller" >> group_vars/all/robot-config-service.yaml
echo "rcs_hubcontroller_password: hub-controller" >> group_vars/all/robot-config-service.yaml

ansible-navigator run bootstrap-robot.yaml -l <ROBOT_NAME>

Then log into the Hubcontroller (/dashboard.html) (username / pass in Bitwarden) and you should see a tile with your registered robot.

Advanced rarely used topics

Camera Setup (Raspi camera v2)

Playbook camera-test.yaml is here camera-test.yaml to fetch camera image:

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cd automation/
ansible-navigator run ./camera-test.yaml -l gort

Open all camera-test*jpg files.

Cable orientation: blue “bar” on cable oriented to USB ports, blue bar at camera away from lens

Custom network configurartion

  • 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 and change on disk.

  • Edit /etc/netplan/50-cloud-init.yaml and add your WIFI 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
    * Reboot the robot

  • Now the boot screen should look like this, and show the new IP address