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Recovery

OP3 Manual Installation

Overview

This chapter explains how to install software and configure ROBOTIS OP3.

User Installation

OS Installation

OS Installation

PC Setting

  • WiFi Hotspot
    1. Right-click on the Network icon in the system tray at the bottom right corner of your screen and select Edit Connections....
    2. In the Network Connections window, click Add(+) button.
    3. In the Choose a Connection Type window, select Wi-Fi from the Hardware group.
    4. Click Create... button.
    5. Modify the Connection name to OP3-Hotspot in the new window.
    6. Change the SSID to ROBOTIS-OP3-Share in the Wi-Fi tab.
    7. Select Hotspot Mode and click Save button.
    8. Close the Network Connections window.
    9. Click the Network icon from the bottom right corner of the system tray and select Connect to Hidden Wi-Fi Network....
    10. Select OP3-Hotspot for the Connection in the Hidden Wi-Fi network and click Connect button.
  • Other Settings
    1. Increase real-time scheduling priority (rtprio) for current user’s group 
       $ sudo bash -c 'echo "@robotis - rtprio 99" > /etc/security/limits.d/robotis-rtprio.conf'
    2. Add user to appropriate groups 
       $ sudo usermod -aG dialout,video,audio robotis
    3. Configure USB latency tmer to 1ms at startup
      • create a udev rules file 
          $ sudo nano /etc/udev/rules.d/50-latency-timer.rules
      • add the following rule to the file 
          ACTION=="add", SUBSYSTEM=="usb-serial", DRIVER=="ftdi_sio", ATTR{latency_timer}="1"
      • reload udev rules 
          $ sudo udevadmin control --reload-rules
  $ sudo udevadmin trigger
  • Server Settings
    • openssh Installation 
       $ sudo apt install openssh-server
    • Desktop sharing
      1. Vino Installation and configuration 
        $ sudo apt install vino
$ gsettings set org.gnome.Vino require-encryption false
$ gsettings set org.gnome.Vino prompt-enabled false
$ gsettings set org.gnome.Vino authentication-methods "['vnc']"
$ gsettings set org.gnome.Vino vnc-password $(echo -n '111111'|base64)
      2. Start → Session and Startup → Application Autostart → Add button
        • Name : Desktop Sharing
        • Description : vnc server
        • Command : /usr/lib/vino/vino-server –sm-disable
        • Trigger : on login
      3. OK button
      4. logout & login
    • Samba
      1. Installation 
         $ sudo apt install -y samba samba-common
      2. Create a samba user 
         $ sudo smbpasswd -a robotis
 [sudo] password for robotis: 111111
 New SMB password: 111111
 Retype new SMB password: 111111
      3. Append the following to the /etc/samba/smb.conf file 
         [root directory]
     comment = Root Directory
     path = /
     browseable = yes
     read only = no
     writable = yes
     create mask = 0755
     directory mask = 0755
     valid users = @robotis
      4. Restart service 
         $ sudo service smbd restart
    • Apache(for web_setting_tool)
      1. Install web server(APACHE2) 
         $ sudo apt install apache2
      2. Check the default page from a web browser
        • http://10.42.0.1

ROS Installation & Environment Setup

  1. ROS Installation

    Reference : ROS Installation

  2. ROS Environment Setup

    Reference : ROS Environment and Network Settings

DDS Middleware and Network tuning

  • Change DDS Middleware
    • Install CycloneDDS 
      $ sudo apt install ros-jazzy-rmw-cyclonedds-cpp
    • Append the following in your ~/.bashrc file: 
      export ROS2_WS='robotis_ws'
source /opt/ros/jazzy/setup.bash
source ~/$ROS2_WS/install/local_setup.bash

export ROS_DOMAIN_ID=1
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///home/robotis/.ros/cyclonedds.xml

  • Tuning for large messages
    All DDS implementations are not designed to handle large messages (such as images). Therefore, it is necessary to tune them and the network parameters to prevent data loss and system overloading.

    • Increase the minimum socket receive buffer and maximum size of messages for CycloneDDS
      Create the CycloneDDS configuration file: 
       $ nano ~/.ros/cyclonedds.xml

       <?xml version="1.0" encoding="UTF-8" ?>
 <CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
   <Domain id="any">
     <General>
       <Interfaces>
         <NetworkInterface name="lo" />
       </Interfaces>
       <AllowMulticast>false</AllowMulticast>
       <MaxMessageSize>65500B</MaxMessageSize>
     </General>
     <Internal>
       <SocketReceiveBufferSize min="10MB"/>
       <Watermarks>
         <WhcHigh>500kB</WhcHigh>
       </Watermarks>
     </Internal>
     <Discovery>
       <ParticipantIndex>auto</ParticipantIndex>
       <MaxAutoParticipantIndex>100</MaxAutoParticipantIndex>
       <Peers>
         <Peer Address="127.0.0.1"/>
       </Peers>
     </Discovery>
   </Domain>
 </CycloneDDS>
    • Create a network configuration file: 
        $ sudo nano /etc/sysctl.d/10-cyclone-max.conf

        # IP fragmentation settings
  net.ipv4.ipfrag_time=3  # in seconds, default is 30 s
  net.ipv4.ipfrag_high_thresh=33554432  # 32 MiB, default is 4 MiB

  # Increase the maximum receive buffer size for network packets
  net.core.rmem_max=134217728  # 128 MiB, default is 208 KiB
    • Save the file and reboot. Validate the sysctl settings, after a reboot: 
        $ sysctl net.core.rmem_max net.ipv4.ipfrag_time net.ipv4.ipfrag_high_thresh
  net.core.rmem_max = 134217728
  net.ipv4.ipfrag_time = 3
  net.ipv4.ipfrag_high_thresh = 33554432

Installing ROBOTIS ROS Packages

  • ROBOTIS ROS Packages
    • DYNAMIXEL SDK : SDK for DYNAMIXEL
    • ROBOTIS-Framerowk : The package to use ROS (Robot Operating System) for robots assembled with ROBOTIS products.
    • ROBOTIS-Framerowk-msgs : Messages used in the ROBOTIS-Framework
    • ROBOTIS-Math : basic calculation related to transformation and trajectory functions
    • ROBOTIS-OP3 : ROS packages running in the ROBOTIS-OP3
    • ROBOTIS-OP3-Common
    • ROBOTIS-OP3-Demo : ROBOTIS-OP3 uses this package when running a demonstration
    • ROBOTIS-OP3-ETC : : This package contains modified version of the usb_cam driver and face_detection used in ROBOTIS-OP3
    • ROBOTIS-OP3-msgs : This package contains ROS messages that are used for ROBOTIS-OP3
    • ROBOTIS-OP3-Tools : This package contains useful tools for ROBOTIS-OP3
    • ROBOTIS-Utility : This package contains sound player for ROBOTIS-OP3
  • How to install ROBOTIS ROS packages
    • Download sources from Github. 
       $ mkdir -p ~/robotis_ws/src
 $ cd ~/robotis_ws/src
 $ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git --branch=jazzy
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework.git --branch=jazzy-devl
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs.git --branch=jazzy-devl
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Math.git --branch=jazzy-devl
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3.git --branch=jazzy-devl
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Common.git --branch=jazzy-devl
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo.git --branch=jazzy-devl
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-ETC.git --branch=jazzy-devl
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-msgs.git --branch=jazzy-devl
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Tools.git --branch=jazzy-devl
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Utility.git --branch=jazzy-devl

Installing additional applications for ROBOTIS ROS Package

  • update package list 
    $ sudo apt update
  • install python3-rosdep 
    $ sudo apt install python3-rosdep
  • initialize rosdep and update the rosdep database 
    $ sudo rosdep init
$ rosdep udpate
  • use rosdep to install dependencies 
    $ cd ~/robotis_ws
$ rosdep install --from-paths src --ignore-src -r -y --os=ubuntu:noble
    • --from-paths src : specifies the source directory where your ROS packages are located.
    • --ignore-src : ignores packages within the source directory itself.
    • -r : resolves dependencies recursively.
    • -y : automatically answers “yes” to all prompts.
  • install additional packages
    • for ROBOTIS-Utility : madplay, mpg321 
         $ sudo apt install -y madplay mpg321
    • ETC. 
         $ sudo apt install -y ros-jazzy-xacro ros-jazzy-imu-tools python3-pydantic

Build downloaded ROBOTIS ROS packages.

$ cd ~/robotis_ws
$ colcon build --symlink-install && source ~/.bashrc

ETC Setting

  • Configure web_setting_tool
    1. Copy files from ROBOTIS-OP3-Tools folder to the web server folder : github 
       $ cd ~/robotis_ws/src/ROBOTIS-OP3-Tools/op3_web_setting_tool
 $ sudo cp -r ./html /var/www
    2. Check the default page from a web browser
      • http://10.42.0.1
    3. How to use Web Setting Tool
  • Configure Shutdown Sound
    1. Create /etc/init.d/shutdown-snd file.
      Create the above file with a text editor. 
       $ sudo xed /etc/init.d/shutdown-snd
    2. Append below information to the file and save. 
       #! /bin/sh
 /usr/bin/madplay "/usr/share/sounds/byebye.mp3"
    3. Add execution permission to the file. 
       $ sudo chmod +x /etc/init.d/shutdown-snd
    4. Copy shutdown mp3 to /usr/share/sounds/ folder. 
      $ sudo cp ~/robotis_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Bye\ bye.mp3 /usr/share/sounds/byebye.mp3
    5. Create a service for the shutdown sound.
      1. Create /etc/systemd/system/shutdown_sound.service file
        Create the above file with a text editor. 
         $ sudo xed /etc/systemd/system/shutdown_sound.service
      2. Append below information to the file and save. 
         [Unit]
 Description=shutdown sound
 After=network.target

 [Service]
 Type=oneshot
 ExecStart=/bin/true
 ExecStop=/etc/init.d/shutdown-snd
 RemainAfterExit=yes

 [Install]
 WantedBy=multi-user.target
      3. Register the Service and execute 
         $ systemctl daemon-reload
 $ systemctl enable /etc/systemd/system/shutdown_sound.service --now
  • Configure Power Button for shutdown
    1. Go to Start Button > Settings > Power Manager.
    2. Go to General > Buttons > When power button is pressed and change the option to Shutdown.

Recovery of ROBOTIS-OP3

Overview

This chapter explains how to recover ROBOTIS-OP3 softwares using recovery USB image.

CloneZilla recovery

Clonezilla is used to recover ROBOTIS-OP3 with the image file in the provided USB.

How to creat a recovery USB media

  • Format a USB drive (Required 8GB space or above)
  • Go to sourceforge.net and download an recovery image file.

NOTE: The required image file may differ depending on a generation of the provided SBC. Be sure to see the following table and download an appropriate image file with your NUC PC.

Recovery Image List Description
clonezilla-live-ROBOTIS-OP3_Recovery_250GB_250226.zip OP3 Rev.3 only (SSD 250GB)
clonezilla-live-ROBOTIS-OP3_Recovery_181019(NUC_7th).zip OP3 Rev.2 only (NUC7)
clonezilla-live-ROBOTIS-OP3_Recovery_180402.zip Latest version for NUC 6 only
clonezilla-live-ROBOTIS-OP3_Recovery_171013.zip Older image for NUC 6 only
  • Extract the zipped foler to the root folder of the USB drive. The folder structure is as follows. 
    .
├── .disk
├── [BOOT]
├── boot
│   └── grub
├── EFI
│   └── boot
├── home
│   └── partimag
│       └── ROBOTIS-OP3_Recovery_250GB_25xxxx
├── live
├── syslinux
└── utils
    ├── linux
    ├── mbr
    ├── win32
    └── win64

How to recover ROBOTIS-OP3

  1. Go to boot manager : Press F10
  2. Select the boot device : Recovery USB media
  3. Select the image : Clonezilla live (VGA 800x600)
  4. Recovery will automatically start, and the PC will turn off when it’s done.

Recovery

OP3 Manual Installation

Overview

This chapter explains how to install software and configure ROBOTIS OP3.

User Installation

OS Installation

OS Installation

PC Setting

  • WiFi Hotspot
    1. Click the Network icon from the bottom right corner of the system tray and select “Edit Connections…”.
    2. In the Network Connections window, click Add button.
    3. In the Choose a Connection Type window, select Wi-Fi from the Hardware group.
    4. Click Create… button.
    5. Modify the Connection name to “OP3-Hotspot” in the new window.
    6. Change the SSID to “ROBOTIS-OP3-share” in the Wi-Fi tab.
    7. Select Hotspot Mode and click Save button.
    8. Close the Network Connections window.
    9. Click the Network icon from the bottom right corner of the system tray and select “Connect to Hidden Wi-Fi Network…”.
    10. Select OP3-Hotspot for the Connection in the Hidden Wi-Fi network and click Connect button.
  • Other Settings
    1. Increase real-time scheduling priority (rtprio) for current user group 
       $ sudo bash -c 'echo "@robotis - rtprio 99" > /etc/security/limits.d/robotis-rtprio.conf'
    2. Add user to appropriate groups 
       $ sudo usermod -aG dialout robotis
  • Server Settings
    • openssh Installation 
        $ sudo apt install openssh-server
    • Desktop sharing
      1. Open a terminal window.
      2. Install dconf-editor with $ sudo apt install dconf-editor command.
      3. Run the editor with $ dconf-editor command.
      4. Go to org > gnome > desktop > remote-access and uncheck require-encryption
      5. Execute $ vino-preferences
      6. In the Sharing section of the Desktop Sharing Preferences windows, apply followings
        1. Check on the Allow other users to view your desktop option.
        2. Check on the Allow other users to control your desktop option.
      7. In the Security section, apply followings
        1. Uncheck the You must confirm each access to this machine option.
        2. Check on the Require the user to enter this password option and enter 111111.
      8. Click Close button
      9. Reboot the system.
    • Samba
      1. Installation 
         $ sudo apt install samba samba-common python-glade2 system-config-samba
      2. Configuration 
         $ sudo touch /etc/libuser.conf
 $ sudo system-config-samba
        • Go to Preferences > Samba Users…
          1. Click Add User button
          2. Select the Unix Username (ex : robotis)
          3. Enter the Windows Username (ex : robotis)
          4. Enter the Password (ex : 111111)
        • Click Add Share button
          • In the Basic tab
            1. Enter / in the Directory.
            2. Check on the Writable / Visible option.
          • In the Access tab
            1. Select Only allow access to specific users
            2. Select samba user
    • Apache(for web_setting_tool)
      1. Install web server(APACHE2) 
         $ sudo apt install apache2
      2. Check the default page from a web browser
        • http://10.42.0.1

ROS Installation & Environment Setup

  1. ROS Installation

    Reference : ROS Installation

  2. ROS Environment Setup

    Reference : ROS Environment and Network Settings

Installing additional applications for ROBOTIS ROS Package

Prerequisites for ROBOTIS ROS package

  • ROBOTIS-OP3 : libncurses5-dev, v4l-utils 
    $ sudo apt install libncurses5-dev v4l-utils
  • ROBOTIS-Utility : madplay, mpg321 
    $ sudo apt install madplay mpg321
  • ETC : g++, git 
    $ sudo apt install g++ git

Installing ROS packages for ROBOTIS-OP3

  • face_detection
    ROS Package used for vision demo 
      $ cd ~/catkin_ws/src
  $ git clone https://github.com/ROBOTIS-GIT/face_detection.git
  $ cd ~/catkin_ws
  $ catkin_make
  • robot_upstart
    ROS Package that automatically executes basic demo of ROBOTIS-OP3
  • usb_cam
    ROS Package for USB Camera 
      $ cd ~/catkin_ws/src
  $ git clone https://github.com/bosch-ros-pkg/usb_cam.git
  $ cd ~/catkin_ws
  $ catkin_make
  $ sudo apt install v4l-utils
  • qt_ros 
      $ sudo apt install ros-kinetic-qt-ros
  • humanoid_navigation
    Package for footstep planner.
    • Install prerequisite packages 
      $ sudo apt-get install ros-kinetic-map-server
$ sudo apt-get install ros-kinetic-humanoid-nav-msgs
$ sudo apt-get install ros-kinetic-nav-msgs
$ sudo apt-get install ros-kinetic-octomap
$ sudo apt-get install ros-kinetic-octomap-msgs
$ sudo apt-get install ros-kinetic-octomap-ros
$ sudo apt-get install ros-kinetic-octomap-server
    • Install library from sources
    • Install humanoid_navigation 
        $ cd ~/catkin_ws/src
  $ git clone https://github.com/ROBOTIS-GIT/humanoid_navigation.git
  $ cd ~/catkin_ws
    • rosbridge_server, web_video_server
      Packages for web_setting_tool 
      $ sudo apt install ros-kinetic-rosbridge-server ros-kinetic-web-video-server

Installing ROBOTIS ROS Packages

  • ROBOTIS ROS Packages
  • How to install ROBOTIS ROS packages
    • Download sources from Github. 
       $ cd ~/catkin_ws/src
 $ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework.git
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs.git
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Math.git
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3.git
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo.git
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-msgs.git
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Tools.git
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Common.git
 $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Utility.git
    • Build downloaded sources. 
       $ cd ~/catkin_ws
 $ catkin_make

ETC Setting

  • Configure web_setting_tool
    1. Copy files from ROBOTIS-OP3-Tools folder to the web server folder : github 
       $ cd ~/catkin_ws/src/ROBOTIS-OP3-Tools/op3_web_setting_tool
 $ sudo cp -r ./html /var/www
    2. Check the default page from a web browser
      • http://10.42.0.1
    3. How to use Web Setting Tool
  • Configure Shutdown Sound
    1. Create /etc/init.d/shutdown-snd file.
      Create the above file with a text editor. 
       $ sudo xed /etc/init.d/shutdown-snd
    2. Append below information to the file and save. 
       #! /bin/sh
 /usr/bin/madplay "/usr/share/sounds/byebye.mp3"
    3. Add execution permission to the file. 
       $ sudo chmod +x /etc/init.d/shutdown-snd
    4. Copy shutdown mp3 to /usr/share/sounds/ folder.
    5. Create a service for the shutdown sound.
      1. Create /etc/systemd/system/shutdown_sound.service file
        Create the above file with a text editor. 
         $ sudo xed /etc/systemd/system/shutdown_sound.service
      2. Append below information to the file and save. 
         [Unit]
 Description=shutdown sound
 After=network.target

 [Service]
 Type=oneshot
 ExecStart=/bin/true
 ExecStop=/etc/init.d/shutdown-snd
 RemainAfterExit=yes

 [Install]
 WantedBy=multi-user.target
      3. Register the Service and execute 
         $ systemctl daemon-reload
 $ systemctl enable /etc/systemd/system/shutdown_sound.service --now
  • Configure Power Button for shutdown
    1. Go to Start Button > Settings > Power Manager.
    2. Go to General > Buttons > When power button is pressed and change the option to “Shutdown”.

Recovery of ROBOTIS-OP3

Overview

This chapter explains how to recover ROBOTIS-OP3 softwares using recovery USB image.

CloneZilla recovery

Clonezilla is used to recover ROBOTIS-OP3 with the image file in the provided USB.

How to creat a recovery USB media

  • Format a USB drive (Required 4GB space or above)
  • Go to sourceforge.net and download an recovery image file.

NOTE: The required image file may differ depending on a generation of the provided SBC. Be sure to see the following table and download an appropriate image file with your NUC PC.

Recovery Image List Description
clonezilla-live-ROBOTIS-OP3_Recovery_181019(NUC_7th).zip NUC 7 only
clonezilla-live-ROBOTIS-OP3_Recovery_180402.zip Latest version for NUC 6 only
clonezilla-live-ROBOTIS-OP3_Recovery_171013.zip Older image for NUC 6 only
  • Extract the zipped foler to the root folder of the USB drive. The folder structure is as follows. 
    .
├── boot
│   └── grub
├── EFI
│   ├── boot
│   └── images
├── home
│   └── partimag
│       └── ROBOTIS-OP3_transcend
├── live
├── syslinux
└── utils

How to recover ROBOTIS-OP3

  1. Go to boot manager : Press F10
  2. Select the boot device : Recovery USB media
  3. Select the image : clonezilla live with img ROBOTIS-OP3_Transcend (Default settings, VGA 1024x768)
  4. Confirm to continue : enter y
  5. Confirm to continue : enter y
  6. Check the progress
  7. Turn off or reboot ROBOTIS-OP3