Edit on GitHub

Recovery

OP3 Manual Installation

Overview

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

User Installation

OS Installation

OS Installation

• Linux Mint 18.1 Xfce

  Reference : How to Install Linux Mint

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
  • Installation

      $ sudo apt install ros-kinetic-robot-upstart  
    

  • Setting for automatic startup
• 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

    • sbpl

      Reference : https://github.com/sbpl/sbpl

  • 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
  • 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-Demo : ROBOTIS-OP3 uses this package when running a demonstration
  • 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-OP3-Common
  • ROBOTIS-Utility
• 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
   

Previous Page