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timzarhansentimzarhansen
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short update on the different guides
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‎BlueROV2/overview.md

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@@ -11,4 +11,8 @@ Here is a general overview of the BlueROV2 robot that was modified at Constructo
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![BlueROV2 CAD](/figures/BlueROV2CAD.png)
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![BlueROV2 CAD](/figures/BlueROV2CAD.png)
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‎Linux_ROS/Docker.md

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Instead of installing every peace of software 1 by 1, we decided to take a dockers-approach.
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The setup is done on Mac, but on Linux machines everything should be easier, and work as well.
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The only difficult part is the display part, which maybe on linux needs a change in the docker-compose.yml
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To display e.g. a GUI in docker on Mac, you need to use [XQuartz](https://www.xquartz.org).
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To display e.g. a GUI in docker on Mac, you need to use [XQuartz](https://www.xquartz.org).(start XQuartz and run ```xhost +``` in a terminal)
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The idea is, that a devcontainer is used for the ROS2 setup together with its packages that are imporant.
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the workspace github is:

‎Linux_ROS/ros2.md

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nav_order: 1
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Quick ways to install ROS2 on Ubuntu 22.04:
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Quick ways to install ROS2 on Ubuntu 24.04:
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```
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sudo apt install software-properties-common
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sudo add-apt-repository universe
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sudo apt update && sudo apt install curl -y
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export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
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curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" # If using Ubuntu derivates use $UBUNTU_CODENAME
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sudo apt install /tmp/ros2-apt-source.deb
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sudo apt update && sudo apt install ros-dev-tools
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sudo apt update
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sudo apt upgrade
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sudo apt install ros-jazzy-ros-base
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```
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# Bash Setup:
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This should be saved into the ~/.bashrc for the ROS setup.
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```
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source /opt/ros/jazzy/setup.bash
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source ~/ros_ws/install/local_setup.bash
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export ROS_DOMAIN_ID=161
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```
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# Network Settings
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This sets a domain id, so that we have a closed system in our systems. Has to be the same for all clients.
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`export ROS_DOMAIN_ID=161`
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‎Linux_ROS/ubuntu.md

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# Network
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Base Station Config Linux
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1. set static IP
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2. sudo sysctl -w net.ipv4.ip_forward=1 (should stay)
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3. sudo iptables -t nat -A POSTROUTING -o $EXT -j MASQUERADE
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4. sudo iptables -A FORWARD -i $EXT -o $INT -m state --state RELATED,ESTABLISHED -j ACCEPT
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5. sudo iptables -A FORWARD -i $INT -o $EXT -j ACCEPT
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6. sudo netfilter-persistent save
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7. sudo resolvectl dns eth0 1.1.1.1 (forward dns to find ip addresses on PI)
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8. on pi: include DNS=1.1.1.1 at /etc/systemd/resolved.conf to configure at boot
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MACOS:
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1. sudo nano /etc/pf.conf
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2. Add something like this at the top or under nat-anchor if it exists: nat on en8 from en7:network to any -> (en8)
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3. en8 is outside, and en7 is to PI
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3. sudo sysctl -w net.inet.ip.forwarding=1
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4. Permanent: sudo sh -c 'echo "net.inet.ip.forwarding=1" >> /etc/sysctl.conf'
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5. sudo pfctl -f /etc/pf.conf
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6. sudo pfctl -e
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7. sudo pfctl -n -f /etc/pf.conf

‎RaspberryPi/overview.md

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# Just test this side big
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Connect directly to the Pi without PW:https://serverfault.com/questions/241588/how-to-automate-ssh-login-with-password
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# Logging in without a PW:
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```
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ssh-keygen
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```
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to create a key on host PC.
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```
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ssh-copy-id userid@hostname
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```
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This copies the public key to the pi
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# Synchronize Time of PIs:
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```
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# Install pigpio:
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This package can run hardware PWM signals. make sure unzip is installed
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```
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cd ~/Documents
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sudo wget https://github.com/joan2937/pigpio/archive/master.zip
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```
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# Install OpenCV on Pi:
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```
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sudo apt update -y
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sudo apt upgrade -y
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sudo apt install build-essential libgtk2.0-dev libgtk-3-dev -y
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cd ~/Documents
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mkdir opencvInstall
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cd opencvInstall
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git clone https://github.com/opencv/opencv.git
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git clone https://github.com/opencv/opencv_contrib.git
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mkdir build
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cd build
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cmake -DOPENCV_ENABLE_NONFREE:BOOL=ON -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules ../opencv
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cmake --build . --config Release -- -j 2
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sudo make install
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```
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# Swap on:
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Creates a simple 8GB swap file
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```
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sudo fallocate -l 8G /swapfile
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sudo chmod 600 /swapfile
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sudo mkswap /swapfile
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sudo swapon /swapfile
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echo '/swapfile none swap sw 0 0' | sudo tee -a /etc/fstab
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```
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# install GTsam
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```
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sudo apt install libtbb-dev
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cd ~/Documents
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git clone https://github.com/borglab/gtsam.git
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cd gtsam
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git checkout 4.1.1
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mkdir build
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cd build
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cmake ..
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make
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sudo make install
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```
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‎px4/software.md

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# Raspberry pi Settings for PX4 things
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# Raspberry pi Settings for PX4 things(prob old)
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`MicroXRCEAgent serial --dev /dev/ttyACM0 -b 921600` maybe add `ROS_DOMAIN_ID` here
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`uxrce_dds_client start -t serial -d /dev/ttyS2 -b 921600`
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UXRCE_DDS_DOM_ID = 161
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UXRCE_DDS_AG_IP = 170524894
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```
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# Network setup for the ethernet
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This needs to go to `/fs/microsd/net.cfg` on the SD card by writing this to the console.
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```
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echo DEVICE=eth0 > /fs/microsd/net.cfg
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echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
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echo IPADDR=192.168.10.11 >> /fs/microsd/net.cfg
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echo NETMASK=255.255.255.0 >> /fs/microsd/net.cfg
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echo ROUTER=192.168.10.1 >> /fs/microsd/net.cfg
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echo DNS=1.1.1.1 >> /fs/microsd/net.cfg
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```
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# Micro-XRCE-DDS-Agent Install
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```
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git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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cd Micro-XRCE-DDS-Agent
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mkdir build
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cd build
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cmake ..
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make
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sudo make install
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sudo ldconfig /usr/local/lib/
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```
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