Install ROS on Linaro (gumstix, pandaboard)

[Kai Franke]

All,

I set up a new wiki page on how to install ROS for a Linaro image. It also contains a nice way to cross-compile on your multicore workstation. This way you do not even need the hardware itself. This setup will also work on the raspberry pi.

You can find the wiki page here

I will also upload a SD image with a desktop installation soon. 

Kai

[Erwin José Lopez Pulgarin]

Excelent work!

2013/2/6 Kai Franke <k...@kaifranke.com>

Kai

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Gracias

Erwin José López Pulgarín
Ingeniero Mecatrónico
Universidad Nacional de Colombia

[Kai Franke]

I uploaded an image, so get started everyone ;)
http://goo.gl/ypK85
It would be great if anybody could verify that it works.

Kai

[Tommy Persson]

I tried to follow these instructions but I have a problem. I use linaro-media-create to create an SD card directly. I then boot this card on my Gumstix and it boots. But dpkg and apt-get are not in the path. opkg is in the path which is strange since I thought I would get a standard Ubuntu. And if I look at info about the system it says it is an Ångström distribution.

So how do I get a bootable SD which have dpkg and apt-get in the path? The programs are on the card but in /media/...p2/usr/bin and they do not seems to me fused into the root file system.

/Tommy Persson

[Kai Franke]

You most likely did not boot from SD card, but from the internal memory.
That happened to me as well in the beginning. I found this solution to work:
when it boots up, you need to interrupt the 5 second timer and write

nand erase 240000 20000 

reset

this will delete some environment variables which then cannot be found by the gumstix anymore and it will reset them to default. I know it is neither a safe, nor a nice solution, but it works. If you find a different way to make gumstix boot from SD card, feel free to post it. I did not want to put those instructions on the wiki because they are only gumstix and not linaro related.

Kai
 

[Tommy Persson]

You were right. I did not know that it could fail that way. Have to wait until Monday to test things then since I do not have a serial connection to the development board at home.

When I a while ago followed the instructions at:

http://kfuresearch.wordpress.com/2011/08/05/installing-ubuntu-and-ros-on-the-gumstix-overo-fire

I got a card that booted for me on the same hardware. So I expected it to work. But googling a bit I get the impression that this is a new problem so the procedure in the link above might not work.

[Kai Franke]

If you set up your chroot environment, you can start right away ;)

[Tommy Persson]

Have just started to test the image. The image booted. There is some issue with duplicate entries when you do "apt-get update". And every apt-get install tales a long time to read the package file. Will give more feedback after having tested if our application compiles and works.

I also tested to just build an SD-card with the linaro-script. I then just took your root file system in the image and copied that to a 16G card. But that did not work so good. I god some error messages when booting about reading from the card. Is that method supposed to work?

[Kai Franke]

I also received those warnings about duplicate entries but I did not care to resolve them ;)

I never tried only copying the root partition but I do not see why it should not work

Kai

[Tommy Persson]

I booted the wrong SD card. The one that worked without problems was my clean Linaro SD card.

Now I am testing your image and had problem during boot that some processes terminated. And when something timed out and I got a prompt the network did not work properly. Have you done something with network drivers? With the clean Linaro kernel I get eth0 and it connects to the network, With your image I do not see any eth0 but have an eth1 but cannot configure that with ifup.

I also get some, message about task crda blocked for more than 120 second.

Well, time to test some more stuff.

[Tommy Persson]

I managed to get the network working with dhclient eth1. So with the SD card were I copied the root file system I get the following when booting:

[    9.282714] kjournald starting.  Commit interval 5 seconds

[    9.305969] EXT3-fs (mmcblk0p2): mounted filesystem with ordered data mode

[   10.251251] init: ureadahead main process (849) terminated with status 5

[   10.657379] end_request: I/O error, dev mtdblock0, sector 0

[   10.669860] Buffer I/O error on device mtdblock0, logical block 0

[   10.819610] end_request: I/O error, dev mtdblock0, sector 0

[   10.832122] Buffer I/O error on device mtdblock0, logical block 0

[   10.941833] init: resolvconf pre-start process (859) terminated with status 127

[   11.030456] end_request: I/O error, dev mtdblock0, sector 0

[   11.043182] Buffer I/O error on device mtdblock0, logical block 0

[   11.172607] init: resolvconf post-stop process (875) terminated with status 127

[   11.200775] end_request: I/O error, dev mtdblock0, sector 0

[   11.213562] Buffer I/O error on device mtdblock0, logical block 0

[   11.334014] end_request: I/O error, dev mtdblock0, sector 0

.

.

.

---

The error messages from init was what happened with the SD card were I just dd:ed the image.

/Tommy

[Kai Franke]

I guess a simple plug and play will not work on the pandaboard. I will create an image with a groovy installation in a chroot environment. This will take a few days, so try to beat me ;)

Kai

[Tommy Persson]

Just to be clear, I am trying the image on a Gumstix Overo.

/Tommy

[Tommy Persson]

Removing all entries in /etc/apt/sources.list seems to solve the problem with duplicate entries. It probably speedup installation of packages also to fix this problem.

[Kai Franke]

I tried it out on my gumstix and I get the same timeout warning. They do not really do anything but if you find a way to remove them, speak up :)
On my gumstix, I got an internet connection right after the first boot on eth0

Kai

[Tommy Persson]

I have tested some more. It worked well to just dd the image to a card and use gparted to increase the partition size. The eth0, eth1 order is because of a persistent rule generated when booting the first time. In the finished distribution image this file should probably be cleared.

But the problem I have now is to get a Point Grey Research Firefly MV FMVU-03MTC camera to work with gscam. The camera is detected but no firewire-core modules are loaded and modprobe does not find this module. And no devices /dev/fw* appear. On my desktop Ubuntu 12.04 the firewire-core module is loaded and I have got it to work at my work machine. So any ideas or anybody that uses this camera and know how to get it to work with ROS on Gumstix (Linaro)?

/Tommy

 

On Friday, February 8, 2013 5:53:42 PM UTC+1, Kai Franke wrote:

[Tommy Persson]

What about opencv2? Was there a reason that this was not included in the image?

If I want to compile it myself, how do I check out the correct version?

/Tommy

On Friday, February 8, 2013 5:53:42 PM UTC+1, Kai Franke wrote:

[Kai Franke]

It is included and works. You will not be able to find it inside the ROS src folder because I installed it as an external library. The simple reason is that catkin tries to build the documentation using latex and I did not want to do that. So I downloaded the source files and installed it separately.

Kai

[Tommy Persson]

I tried to build a rosbuild package and that failed because it could not find opencv2. But I converted the package to catkin and it worked.

Are there any risk with conflicts between standard opencv in Ubuntu and ROS opencv? 

Things are really working very well with the image.  One of the remaining problem is probably the thing with cdra timeout. If I configure wlan0 statically in /etc/network/interfaces I get timeout during booting in network configuring. The problem is that the timeout increases the booting time a lot. But we need to have the wlan0 up after boot.

Another thing I wondered about is what is the correct way to source setup.bash? Now I do:

source /opt/ros/groovy/catkin_ws/install_isolated/setup.bash

but that takes a very long time. And therefore I cannot put it into a login file.

/Tommy

[Kai Franke]

I did not experience any difficulties yet, I tried feature detection and that works. The idea behind catkin is anyways to take the libraries out of ROS, so it will be only a matter of time I guess.
Your source looks correct and it will take a while. I guess that is what we have to live with when using embedded devices. I just finished compiling another ROS install with some modified compiler flags for OpenCV and PCL because I found it to be slower than the raspberry pi. If those flags show any improvement, I will upload it.

Kai

[Tommy Persson]

It seems that the image_transport_plugins are not in the image. Did you exclude then for a good reason or is it worth it to try and compile them?

/Tommy

[Kai Franke]

I produced so many images the last month, I lost track of what is included where. I usually build groovy in /opt/ros/groovy and overlayed it with a workspace in the home folder. So check if you find catkin_ws in /home/gumstix or /root. I think I always excluded the theora compression because it did not build and I did not need it, but the rest of the image_transport_plugins should be there

Kai

[Neel Doshi]

Hey Kai, 

I was trying to follow your instructions here, and I ran into this error when I tried to run: 

# wstool set swig-wx https://github.com/ros/swig-wx.git --git -y 

Traceback (most recent call last):

  File "/usr/local/bin/wstool", line 5, in <module>

    pkg_resources.run_script('wstool==0.0.2', 'wstool')

  File "/usr/lib/python2.7/dist-packages/pkg_resources.py", line 499, in run_script

    self.require(requires)[0].run_script(script_name, ns)

  File "/usr/lib/python2.7/dist-packages/pkg_resources.py", line 1235, in run_script

    execfile(script_filename, namespace, namespace)

  File "/usr/local/lib/python2.7/dist-packages/wstool-0.0.2-py2.7.egg/EGG-INFO/scripts/wstool", line 64, in <module>

    sys.exit(wstool.wstool_cli.wstool_main(sys.argv))

  File "/usr/local/lib/python2.7/dist-packages/wstool-0.0.2-py2.7.egg/wstool/wstool_cli.py", line 304, in wstool_main

    return ws_commands[command](workspace, args)

  File "/usr/local/lib/python2.7/dist-packages/rosinstall-0.6.24-py2.7.egg/rosinstall/multiproject_cli.py", line 722, in cmd_set

    if options.detach:

AttributeError: Values instance has no attribute 'detach'

Any ideas/suggestions? 

Thanks, 

- Neel 

[Anup Kini]

HI Neel,

I bumped into a similar error and i added this entry in .rosinstall. There are other packages picked from GIT and u can have a look at them for the format of the entry.

then ran wstool update.

This is a temporary fix, but it works :)

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[Kai Franke]

Try skipping this step. I think swig is not needed anymore. If it works without it, please remove it from the wiki :)
Thanks

[Marcus Liebhardt]

Hi everyone!

I'd like to join the club of people trying to get ROS working on Linaro.

I have followed the source installation instructions as well and got quite far (152/157 packages building), but finally received this error when building collada_urdf:

/media/pendrive/ros/groovy/catkin_workspace/devel_isolated/collada_urdf/lib/libcollada_urdf.so: undefined reference to `vtable for Assimp::IOSystem'

/media/pendrive/ros/groovy/catkin_workspace/devel_isolated/collada_urdf/lib/libcollada_urdf.so: undefined reference to `typeinfo for Assimp::IOSystem'

collect2: ld returned 1 exit status

Looking for an answer I have found this: http://answers.ros.org/question/48084/urdf_to_collada-undefined-reference-to-vtable-for-assimpiosystem/

However, I found out that on my system (using a preconfigured Ubtunu-Linaro installation) assimp2 is installed.

Does anyone know a solution to this problem? Should I follow the instructions in the above answer? Would it work with assimp2? Are there other ways to solve this problem?

Any help is appreciated!

Thanks,

Marcus

On Tuesday, February 26, 2013 3:45:51 AM UTC+9, Kai Franke wrote:

Try skipping this step. I think swig is not needed anymore. If it works without it, please remove it from the wiki :)
Thanks

I agree. However, since I am not sure that's true for everyone, I only added a comment.

[Paul Mathieu]

Hi Marcus,

I had an identical problem with libassimp3 on Raspbian last week.

I solved it by duplicating some of libassimp code in collada_urdf.

The problem seems to be related to vague linkage. Normally, a vtable is emitted for the compilation unit that defines the first non-inline virtual method. For a reason that still eludes me, the vtable is actually generated for Assimp::IOSystem in the libassimp object files, but are stripped away during the debian packaging process. This is not a problem on PC platforms (amd64, i386), because gcc uses vague linkage and creates weak symbols for these vtables, that can be linked against without producing errors on the linker side.

Apparently, these weak symbols are not generated on ARM, unless we define the first non-inline virtual function in collada_urdf.

It is a dirty trick, but it does the job for me.

Attached is a patch.

The patch might not work for your case since you are using libassimp2, but you should give it a try.

Cheers,

Paul

[Chris Csikszentmihalyi]

Thanks, Paul!  Worked for me...

[George Kiritsis]

All,

I set up a new wiki page on how to install ROS for a Linaro image. It also contains a nice way to cross-compile on your multicore workstation. This way you do not even need the hardware itself. This setup will also work on the raspberry pi.

You can find the wiki page here

I will also upload a SD image with a desktop installation soon. 

Kai

 Hello Mr. Franke 

Thank you very much for this tutorial. I tried it for my gumstix overo fire and I see the following error:  

--------------------------------------------------------------------------------------------------------------------------------------------

george@UbuntuPC:~$ parted gumstix.img

WARNING: You are not superuser.  Watch out for permissions.

GNU Parted 2.3

Using /home/george/gumstix.img

Welcome to GNU Parted! Type 'help' to view a list of commands.

                                                                        (parted) unit

                                                                        Unit?  [compact]? B

                                                                        (parted) print

Model:  (file)

Disk /home/george/gumstix.img: 13958643712B

Sector size (logical/physical): 512B/512B

Partition Table: msdos

Number  Start      End           Size          Type     File system  Flags

 1      32256B     54525439B     54493184B     primary  fat32        boot, lba

 2      54525952B  13958643711B  13904117760B  primary  ext3

                                                                        (parted) quit

george@UbuntuPC:~$ sudo mount -o loop,offset=54525952 gumstix.img /mnt

george@UbuntuPC:~$ sudo mount -o bind /proc /mnt/proc

george@UbuntuPC:~$ sudo mount -o bind /dev /mnt/dev

george@UbuntuPC:~$ sudo mount -o bind /dev/pts /mnt/dev/pts

george@UbuntuPC:~$ sudo mount -o bind /sys /mnt/sys

george@UbuntuPC:~$ sudo cp /usr/bin/qemu-arm-static /mnt/usr/bin/

george@UbuntuPC:~$ sudo chroot /mnt

qemu: uncaught target signal 11 (Segmentation fault) - core dumped

--------------------------------------------------------------------------------------------------------------------------------------------

How should i proceed ? 

Thank you very much in advance.

George

[Дмитрий Захаров]

How to apply collada_urdf patch. Not all know how to do it.

cd ~/ros_catkin_ws/src/robot_model/collada_urdf/src

download patch file and rename it to fix.patch

patch < fix.patch

среда, 13 марта 2013 г., 19:48:02 UTC+3 пользователь Paul Mathieu написал: