Intel Up Board for Robotics

Posted 2018.06.26 04:25

Installing Ubuntu 16.04

 

Everything we need is:

https://01.org/developerjourney/recipe/intel-realsense-robotic-development-kit#step2

Important things to remember is to boot into the Aptio Setpup Utility by pressing del


- Make bootable USB 

https://www.makeuseof.com/tag/how-to-boot-a-linux-live-usb-stick-on-your-mac/


- Follow dev kit 

https://01.org/developerjourney/recipe/intel-realsense-robotic-development-kit

Install Ubuntu

Update kernel

Install ROS (kinetic)


- Using R200

roscore &

roslaunch realsense_camera r200_nodelet_rgbd.launch

roscd realsense_camera

rosrun rviz rviz -d rviz/realsense_rgbd_pointcloud.rviz



- Installations 


Install terminator

sudo apt update

sudo apt install terminator

(Don't know why but apt-get does not work)


Install Tensorflow 1.5 for Python3

sudo apt-get install python3-pip python3-dev

sudo pip3 install tensorflow==1.5

It does not work -

Trying from 'https://github.com/lakshayg/tensorflow-build'

1.4.0 CPU Ubuntu 16.04 5.4 3.5.2 FMA, AVX, AVX2, SSE4.1, SSE4.2 Download

Not working...-_-


Trying followings...

https://software.intel.com/en-us/articles/build-and-install-tensorflow-on-intel-architecture

echo "deb [arch=amd64] http://storage.googleapis.com/bazel-apt stable jdk1.8" | sudo tee /etc/apt/sources.list.d/bazel.list

sudo apt install curl

curl https://bazel.build/bazel-release.pub.gpg | sudo apt-key add -

sudo apt-get update && sudo apt-get install bazel

sudo apt-get upgrade bazel


Bazel installed, hopefully..


git clone https://github.com/tensorflow/tensorflow

cd tensorflow

 ./configure

bazel build --config=mkl --copt="-DEIGEN_USE_VML" -c opt //tensorflow/tools/pip_package:build_pip_package


Not working due to low RAM..


Install OpenCV
https://github.com/intel-iot-devkit/up-squared-grove-IoT-dev-kit-arduino-create/tree/master/examples/OpenCV-Setup

It is for Pyhton2, I guess..

So I did,

sudo pip3 install opencv-contrib-python

Still Not working, the cv2 from ROS is overriding the installed one.

I added followings to the .bashrc

export PYTHONPATH="/usr/local/lib/python3.5/dist-package‌​s:$PYTHONPATH"

where cv2  exists.


Install Jupyter notebook


python3 -m pip install jupyter

sudo pip3 install jupyterthemes

jt -t grade3 -fs 95 -altp -tfs 11 -nfs 115 -cellw 88% -T


Install screen

sudo apt install screen





When using Dynamixels, be aware of followings!


1. Symbolic link to the 'tty/USBx' devices


Modify the following file by typing:

vim /etc/udev/rules.d/99-usb-serial.rules

as

SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6014", SYMLINK+="DXL_USB"


SUBSYSTEM=="tty", ATTRS{idVendor}=="1d6b", ATTRS{idProduct}=="0002", SYMLINK+="IMU_USB"

In order to find 'idVendor' and 'idProduct',

lsusb

Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 005: ID 0424:2530 Standard Microsystems Corp.
Bus 001 Device 010: ID 0853:0138 Topre Corporation
Bus 001 Device 007: ID 1532:005c Razer USA, Ltd
Bus 001 Device 006: ID 05e3:0608 Genesys Logic, Inc. Hub
Bus 001 Device 003: ID 0424:4603 Standard Microsystems Corp.
Bus 001 Device 011: ID 0403:6014 Future Technology Devices International, Ltd FT232H Single HS USB-UART/FIFO IC
Bus 001 Device 009: ID 1a40:0101 Terminus Technology Inc. Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub


2. To lower the latency:


setserial /dev/DXL_USB low_latency


* Note: followings are the previous instructions for using USB

sudo chmod a+rw /dev/ttyUSB0

sudo su

echo 1 > /sys/bus/usb-serial/devices/ttyUSB0/latent_timer

which may not be necessary if we do followings: (add current user to 'dialout' group.

sudo adduser $USER dialout


























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