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Bahrami edited this page Jun 3, 2023 · 14 revisions

voxl

systemctl restart voxl-vision-px4

Copy and paste into VOXL

scp sth.txt root@172.16.0.30:~/catkin_ws

adb

details in voxl-vision-px4

install, update, & upgrade packages in VOXL

# in voxl
voxl:/$ voxl-configure-opkg 

Which repository do you want to use?
stable or development?

1) stable
2) dev
#? 1

Done configuring opkg
run opkg update to pull new repository manifest
voxl:/$ opkg update
Downloading http://voxl-packages.modalai.com/stable/Packages.gz.
wget: server returned error: HTTP/1.1 404 Not Found
Collected errors:
 * opkg_download_backend: Failed to download http://voxl-packages.modalai.com/stable/Packages.gz, wget returned 1.
voxl:/$ ping 8.8.8.8
PING 8.8.8.8 (8.8.8.8) 56(84) bytes of data.
64 bytes from 8.8.8.8: icmp_req=1 ttl=54 time=47.3 ms
64 bytes from 8.8.8.8: icmp_req=2 ttl=54 time=46.7 ms
^C
--- 8.8.8.8 ping statistics ---
2 packets transmitted, 2 received, 0% packet loss, time 999ms
rtt min/avg/max/mdev = 46.713/47.041/47.370/0.393 ms

update the download directory in /etc/opkg/opkg.conf and run opkg update && opkg upgrade

voxl:/$ vi /etc/opkg/opkg.conf
voxl:/$ cat /etc/opkg/opkg.conf
################################################################
## This file has been automatically generated.
## Please use voxl-configure-opkg to modify it.
################################################################
dest root /
option lists_dir /var/lib/opkg/lists

# src/gz stable http://voxl-packages.modalai.com/stable # commented on Friday Jun 2, 2023 by Bahrami
src/gz modalai http://voxl-packages.modalai.com/dists/apq8096/stable/binary-arm64/

voxl:/$ opkg update && opkg upgrade

voxl:/$ opkg upgrade
Upgrading voxl-tflite-server from 0.1.8 to 0.3.1 on root.
Installing apq8096-tflite (2.8.3-1) on root.
Upgrading voxl-camera-server from 0.8.1 to 1.3.5 on root.
Upgrading voxl-utils from 0.8.5 to 1.2.2 on root.
Installing apq8096-system-tweaks (0.1.3) on root.
Not downgrading package libgphoto2 on root from 2.5.26 to 0.0.4.
Upgrading voxl-suite from 0.5.0 to 0.9.5 on root.
Collected errors:
 * check_conflicts_for: The following packages conflict with apq8096-tflite:
 * check_conflicts_for: 	voxl-tflite * 
 * check_conflicts_for: The following packages conflict with voxl-camera-server:
 * check_conflicts_for: 	voxl-utils * 
 * check_conflicts_for: The following packages conflict with apq8096-system-tweaks:
 * check_conflicts_for: 	voxl-utils * 
 * satisfy_dependencies_for: Cannot satisfy the following dependencies for voxl-suite:
 * 	cci-direct-support *

voxl-docker

if voxl-emulator does not start and sends an error like this:

exec /opt/container/bin/adduser-sdk.sh: exec format error

run

$ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes

mkdir -p ~/voxl_test_ws/src && cd ~/voxl_test_ws

catkin init

Docker setup for running Ubuntu and ROS

  • configure the docker support on voxl: voxl-configure-docker-support.sh be mindful of the command available on your platform. (it cab be run in w/ and w/o bash)

  • running docker + mounting the VOXL's Yocto home directory inside the docker image at ~/yoctohome/

docker run -it --rm --privileged --net=host --name roskinetic -v /home/root:/root/yoctohome/:rw -w /root/ roskinetic-xenial:v1.0 /bin/bash

or

voxl-docker -i roskinetic-xenial:v1.0

for the details of voxl-docker, check out voxl-docker.sh in the voxl-docker repo.

Docker build - multi-arch

Jetson and VOXL have an arm64 architecture while our developing computer is amd64. How to build on amd64 and deploy on arm64?

Solutions: see here

  • using QEMU to build on your workstation (x86_64 platform) and run it on an NVIDIA Jetson or VOXL with ARM architecture.
  • Multi-arch builds and Github actions for CI: docker manifest or docker buildx. See here for instructions and comparisons.
  • Multi-arch builds and Gitlab CI. here

se also, Use Docker to build Docker images and IBM GitLab CI and .gitlab-ci.yml gist

Save from host and load on VOXL

in host:

# build
docker build --tag neoros:v0 --file Dockerfile.noetic --platform=linux/amd64 .
# takes time
docker save neoros:v0 | gzip > neoros.tar.gz
# when it's done run the following
scp docker/neoros.tar.gz root@172.16.0.30:/data/docker
# when it's done move to the voxl

in voxl:

voxl:/data/docker$ docker load -i neoros.tar.gz
# takes time, up to 20 mins
docker run -it --rm --privileged --net=host --name rosnoetic -v /home/root:/root/yoctohome/:rw -w /root/ neoros:v0 /bin/bash
# /bin/bash: /bin/bash: cannot execute binary file

running without /bin/bash works.

in voxl:

/ # docker version
Client:
 Version:      1.9.0
 API version:  1.21
 Go version:   go1.6.2
 Git commit:   76d6bc9-dirty
 Built:        Wed Aug 28 17:05:35 UTC 2019
 OS/Arch:      linux/arm64
Cannot connect to the Docker daemon. Is the docker daemon running on this host?

and

/ # voxl-version
cat: /etc/modalai/voxl-software-bundle-version.txt: No such file or directory
--------------------------------------------------------------------------------
system-image:    ModalAI 3.6.0 BUILDER: ekatzfey BUILD_TIME: 2022-02-28_23:47
kernel:          #1 SMP PREEMPT Mon Feb 28 23:55:47 UTC 2022 3.18.71-perf
factory-bundle:  1.0.1 (Yocto installation)
--------------------------------------------------------------------------------
architecture:    aarch64
processor:       apq8096
os:              GNU/Linux
--------------------------------------------------------------------------------
voxl-suite:
Package: voxl-suite
Version: 0.5.0
Depends: libjpeg_turbo (>= 9.0.4), libmodal_exposure (>= 0.0.2), libmodal_json (>= 0.3.6), libmodal_pipe (>= 2.1.1), librc_math (>= 1.1.5), libvoxl_cutils (>= 0.0.2), libvoxl_io (>= 0.5.4), mavlink-camera-manager (>= 0.0.2), mongoose (>= 7.3.0), opencv (>= 4.5.2-2), openmp (>= 10.0.2), voxl-camera-calibration (>= 0.1.1), voxl-camera-server (>= 0.8.1), voxl-cpu-monitor (>= 0.2.0), voxl-dfs-server (>= 0.2.2), voxl-docker-support (>= 1.1.3), voxl-gphoto2 (>= 0.0.5), voxl-imu-server (>= 0.9.1), voxl-mavlink (>= 0.0.2), voxl-modem (>= 0.12.0), voxl-mpa-tools (>= 0.3.6), voxl-nodes (>= 0.2.0), voxl-portal (>= 0.1.2), voxl-qvio-server (>= 0.3.4), voxl-streamer (>= 0.2.6), voxl-tag-detector (>= 0.0.2), voxl-tflite (>= 2.2.3), voxl-tflite-server (>= 0.1.5), voxl-utils (>= 0.8.4), voxl-vision-px4 (>= 0.9.5), voxl-vpn (>= 0.0.3)
Status: install user installed
Architecture: all
Installed-Time: 236

--------------------------------------------------------------------------------
/ #

voxl suite version 0.5 has docker engine ver. 1.9.0 (2015)

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