Update README.md

README.md

@@ -1,91 +1 @@
-# ROS Setups
-
-Instructions and scripts for the installation of ROS on various platforms, such as Odroid and Intel Edison.
-
-# Building the Edison Debian Image
-
-## System Requirements
-
-Ubuntu 14.04 LTS (Doesn't work on 16.04 LTS)
-
-It takes about 4-5 hours build time depending on number of CPU cores.
-
-## References
-
-1. [How to Build Debian Image for Edison](https://communities.intel.com/thread/110217 "Intel")
-2. [Building Debian Linux for Intel Edison](http://www.hackgnar.com/2016/02/building-debian-linux-for-intel-edison.html "Hackgnar")
-3. [Building a Custom Debian Image for the Intel Edison](https://jakehewitt.github.io/custom-edison-image/ "JakeHewitt")
-
-## Create a Directory for Building the Images
-
-`cd ~`  
-`mkdir -p ~/src/edison`  
-`cd ~/src/edison`  
-
-## Install Build Dependencies
-
-`sudo apt-get -y install build-essential git diffstat gawk chrpath texinfo libtool gcc-multilib debootstrap u-boot-tools debian-archive-keyring python curl`
-
-## Download Latest Source
-
-`curl -O http://downloadmirror.intel.com/25028/eng/edison-src-ww25.5-15.tgz`
-
-## Uncompress the Source Files
-
-`tar xfvz edison-src-ww25.5-15.tgz`
-
-## Get Started
-
-Create two resource directories so we can rebuild the images without fetching support file twice
-
-`mkdir bitbake_download_dir`  
-`mkdir bitbake_sstate_dir`  
-
-To take advantage of parallelization, change `parallel_make` and `bb_number_thread` to equal to the number of cores available.
-
-`./meta-intel-edison/setup.sh --dl_dir=bitbake_download_dir --sstate_dir=bitbake_sstate_dir --deb_packages --parallel_make=40 --bb_number_thread=40`
-
-## Setup Enviroment Variables
-
-`cd out/linux64`  
-`source poky/oe-init-build-env`  
-
-## Edit Some Errors
-
-1. paho-mqtt_3.1.bb  
-   `sudo nano ~/src/edison/edison-src/linux64/poky/meta-intel-iot-middleware/recipes-connectivity/paho-mqtt/paho-mqtt_3.1.bb`⋅⋅
-   and change SRC_URI from   `git://git.eclipse.org/gitroot/paho/org.eclipse.paho.mqtt.c.git`  
-   to `git://github.com/eclipse/paho.mqtt.c.git`  
-
-2. edison-images.bb  
-   `sudo nano ~/src/edison/edison-src/meta-intel-edison/meta-intel-edison-distro/recipes-core/images/edison-images.bb`  
-   Comment the following lines  
-   `IMAGE_INSTALL += "iotkit-comm-js"`  
-   `IMAGE_INSTALL += "iotkit-comm-c-dev"`  
-
-
-## Building the Image (Part 1)
-
-Now we are ready to build the image. I will take several hours, around 5 hours. (It takes 20 mins on a 40-core CPU :P)
-
-run `bitbake edison-image`
-
-## Building the Image (Part 2)
-
-`cd ~/src/edison-src`  
-`sudo nano meta-intel-edison/utils/create-debian-image.sh`  
-
-1. Change `build_dir=$top_repo_dir/build`
-   to `build_dir=$top_repo_dir/out/linux64/build`
-
-2. Change ``fsize=$((`stat --printf="%s" toFlash/edison-image-edison.ext4` / 524288))`` to ``fsize=$((`stat --printf="%s" toFlash/edison-image-edison.ext4` / 524288 * 2)) ``
-
-3. Change `$CHROOTCMD dpkg -i /tmp/deb/edison/kernel-image-3.10.17-poky-edison+_1.0-r2_i386.deb`  
-   `$CHROOTCMD dpkg -i /tmp/deb/edison/kernel-3.10.17-poky-edison+_1.0-r2_i386.deb`  
-   to `$CHROOTCMD dpkg -i /tmp/deb/edison/kernel-image-3.10.98-poky-edison+_1.0-r2_i386.deb`  `$CHROOTCMD dpkg -i /tmp/deb/edison/kernel-3.10.98-poky-edison+_1.0-r2_i386.deb`
-
-Finally, we cleared all the mistakes in the scripts.
-
-`sudo ./meta-intel-edison/utils/create-debian-image.sh`
-
-The flashable image is build in `out/linux64/build/toFlash`
+-- Follow Instructions om README --

intel-edison/README.md

@@ -8,7 +8,7 @@ Connect one USB cable to the cosole port and then start your temrminal app (see
 
 # Flash Debian
 
-To build Debian Jessie carefully follow the instruction from ros-setups/README.md
+Download jubilinux from http://www.jubilinux.org/
 
 If Windows is used, dfu-util is required. Download the latest version from this page:
 http://dfu-util.sourceforge.net/releases/
@@ -19,39 +19,28 @@ Connect to the console with 115000 8N1, for example:
 
 `screen /dev/USB0 115200 8N1`
 
-and login as root (password: edison)
+and login as edison (password: edison)
 
 
 ## Post Debian Install
 After Debian has been installed you will end up with the following partitions:
 
 ```
 Filesystem       Size  Used Avail Use% Mounted on
-rootfs           1.4G  813M  503M  62% /
-/dev/root        1.4G  813M  503M  62% /
-devtmpfs         480M     0  480M   0% /dev
-tmpfs             97M  292K   96M   1% /run
+/dev/root        1.4G  242M  1.1G  19% /
+devtmpfs         481M     0  481M   0% /dev
+tmpfs            481M     0  481M   0% /dev/shm
+tmpfs            481M  6.7M  474M   2% /run
 tmpfs            5.0M     0  5.0M   0% /run/lock
-tmpfs            193M     0  193M   0% /run/shm
+tmpfs            481M     0  481M   0% /sys/fs/cgroup
 tmpfs            481M     0  481M   0% /tmp
-/dev/mmcblk0p7    32M  5.3M   27M  17% /boot
-/dev/mmcblk0p10  1.3G  2.0M  1.3G   1% /home
-```
-
-For some reasons, the /home partition is not mounted after the first boot. To  fix this issue, add the follow to the bottom of `/etc/fstab`  
-
-```
-/dev/disk/by-partlabel/home     /home       auto    defaults     1   1
-```
-
-Resize the rootfs image to partition Size
-
-```
-resize2fs /dev/mmcblk0p5
+/dev/mmcblk0p7    32M  4.8M   28M  16% /boot
+/dev/mmcblk0p10  1.3G  631M  660M  49% /home
+tmpfs             97M     0   97M   0% /run/user/1002
 ```
 
 ## Post ROS Install
-Once ROS is installed there won't be much space left on the root partition. TODO: Add howto on freeing up space.
+Once ROS is installed there won't be much space left on the home partition. 
 
 ```
 Filesystem       Size  Used Avail Use% Mounted on
@@ -68,7 +57,7 @@ tmpfs            481M  6.6M  474M   2% /tmp
 
 # Post Installation Steps
 
-## Freeing up Space on the Root Partition
+## Freeing up Space on the Home Partition
 
 You will need more space on the home partition. Run the following commands:
 
@@ -79,26 +68,10 @@ You will need more space on the home partition. Run the following commands:
 
 `exit`
 
-## Creating Catkin PACKAGE
-
-`mkdir ~/catkin_ws/src`
-`cd ~/catkin_ws/`
-`catkin_make`
-
-If facing CMAKE error, `cd ~/catkin_ws` and `sudo chown -R edison:users .`
-
-## Install AIR, MAVROS_EXTRAS, GEOMETRY
-
-```
-git clone https://github.com/tcheehow/air.git
-git clone -b edison https://github.com/tcheehow/mavros.git
-git clone -b indigo-devel https://github.com/ros/geometry.git
-```
-
 ## Wifi
 
 Run `sudo cp /etc/network/interfaces /etc/network/interfaces.home`
-Run `sudo cp /etc/network/interfaces /etc/network/interfaces.home`
+Run `sudo cp /etc/network/interfaces /etc/network/interfaces.work`
 
 Run `wpa_passphrase your-ssid your-wifi-password` to generate pka.
 `cd /etc/network`
@@ -159,9 +132,9 @@ deb http://ftp.sg.debian.org/debian jessie-backports main
 ```
 
 ```
-apt-get -y update
-apt-get -f install
-apt-get -y upgrade
+sudo apt-get -y update
+sudo apt-get -f install
+sudo apt-get -y upgrade
 ```
 
 ## Locales
@@ -188,19 +161,33 @@ apt-get -y install git
 apt-get -y install sudo less
 ```
 
-## Add User
-`adduser px4`
-`passwd px4` (set the password to px4)
-`usermod -aG sudo px4`
-`usermod -aG dialout px4`
+## Creating Catkin PACKAGE
+
+`mkdir ~/catkin_ws/src`
+`cd ~/catkin_ws/`
+`catkin_make`
+
+If facing CMAKE error, `cd ~/catkin_ws` and `sudo chown -R edison:users .`
+
+## Install AIR, MAVROS_EXTRAS, GEOMETRY
+
+```
+git clone https://github.com/tcheehow/air.git
+git clone -b edison https://github.com/tcheehow/mavros.git
+git clone -b indigo-devel https://github.com/ros/geometry.git
+git clone https://github.com/tcheehow/teraranger_array.git
+git clone https://github.com/ros/dynamic_reconfigure.git
+git clone https://github.com/wjwwood/serial
+```
+
+## User
 
-## Remove "edison" User
-`deluser --remove-home user`
+Always login as root due to permission issues for serial and i2c.
 
 ## Add host
 `nano /etc/hosts` and add below localhost `127.0.0.1 edison`
 
-Login as px4 to continue.
+Login as root to continue.
 
 # ROS/MAVROS Installation
 
@@ -246,20 +233,49 @@ in /mraa/src/python/python3/CMakeLists.txt
 ```
 
 
-# Setting I2C Permission with udev rules
+# Setting I2C Permission
+
+First install i2c-tools to setup the /dev/i2c* with i2c permission
 
 ```
-sudo usermode -aG i2c edison
+sudo apt-get install i2c-tools
+sudo reboot
+sudo usermod -aG i2c edison
 ```
 Reboot the edison for udev rules to take effect.
 
 # Setting Serial Permission with udev rules
 
 ```
-sudo usermode -aG dialout edison
+sudo usermod -aG dialout edison
 ```
 Reboot the edison for udev rules to take effect.
 
+# Setting Up Edison as AP
+
+References: https://github.com/ArduPilot/companion 
+
+
+In `etc/default/hostapd`, uncomment DAE_CONF and add `/etc/hostapd/hostapd.conf` to it, it should look like 
+```
+DAE_CONF="/etc/hostapd/hostapd.conf"
+```
+
+```
+# uncomment to 4 lines in /etc/network/interfaces for hostapd and 
+# comment out the wlan0 setup for usual internet access
+```
+
+Add the following to the end of /etc/rc.local
+
+```
+ifdown wlan0
+/etc/init.d/hostapd restart
+ifup wlan0
+```
+
+in `/etc/init.d/hostapd` add `/etc/hostapd/hostapd.conf` to DAE_CONF
+
 # Python Flight App
 
 Once you have a functional ROS setup you can *very carefully* perform an offboard flight using the setpoint_demo.py script. This script assumes that you have already successfully run `roslaunch mavros px4.launch`.

intel-edison/install_ros.sh

@@ -16,21 +16,21 @@ echo "*** Get ROS and Raspian keys ***"
 sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
 #wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
 wget http://archive.raspbian.org/raspbian.public.key -O - | sudo apt-key add -
+wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
 
 echo "*** Update the OS ***"
 sudo apt-get -y update
 sudo apt-get -y upgrade
 
 echo "*** Install required OS packages ***"
-sudo apt-get -y install pkg-config
-sudo apt-get -y install python-setuptools python-pip python-yaml python-argparse python-distribute python-docutils python-dateutil python-six
+sudo apt-get install python-pip python-setuptools python-yaml python-distribute python-docutils python-dateutil python-six
 
 echo "*** Install required ROS packages ***"
 sudo pip install rosdep rosinstall_generator wstool rosinstall
 
 echo "*** Fix some permission issues"
 cd ~
-sudo chown -R px4 .
+sudo chown -R edison:users .
 
 echo "*** ROSDEP ***"
 sudo rosdep init
@@ -43,11 +43,13 @@ echo "*** rosinstall ***"
 #   This will install only mavros and not mavros-extras (no image
 #   support which the Edison can’t really handle well anyway).
 rosinstall_generator ros_comm mavros --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-ros_comm-wet.rosinstall
+#rosinstall_generator ros_comm mavros --rosdistro indigo --deps --wet-only --tar > indigo-ros_comm-wet.rosinstall
 
 echo "*** wstool ***"
 sudo wstool init src -j3 indigo-ros_comm-wet.rosinstall
 
 while [ $? != 0 ]; do
+  # run this afew times to make sure all packages are downloaded
   echo "*** wstool - download failures, retrying ***"
   sudo wstool update -t src -j3
 done
@@ -63,9 +65,15 @@ sudo apt-get -y update
 
 echo "*** Install console bridge ***"
 cd ~/ros_catkin_ws/external_src
-sudo apt-get -y build-dep console-bridge
-apt-get -y source -b console-bridge
-sudo dpkg -i libconsole-bridge0.2*.deb libconsole-bridge-dev*.deb
+#sudo apt-get -y build-dep console-bridge
+#apt-get -y source -b console-bridge
+#sudo dpkg -i libconsole-bridge0.2*.deb libconsole-bridge-dev*.deb
+sudo apt-get install libboost-system-dev libboost-thread-dev
+git clone https://github.com/ros/console_bridge.git
+cd console_bridge
+cmake .
+sudo checkinstall make install
+#sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo
 
 echo "*** Install liblz4-dev ***"
 sudo apt-get -y install liblz4-dev
@@ -80,7 +88,7 @@ echo “About to start some heavy building. Go have a looong coffee break.”
 echo “******************************************************************”
 
 echo "*** Building ROS ***"
-sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo
+sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo -j1
 
 #cd ~/ros_catkin_ws/build_isolated/
 #sudo chown -R px4 .