Rover

Robotics project - final year INSA Toulouse

Things we might want to check out

https://medium.com/home-wireless/headless-streaming-video-with-the-raspberry-pi-zero-w-and-raspberry-pi-camera-38bef1968e1 https://www.linux-projects.org https://www.linux-projects.org/uv4l/object-detection-with-depth-estimation/ https://github.com/Qengineering/TensorFlow_Lite_Classification_RPi_zero

Nice to have

Adding several known wifis

https://raspberrypi.stackexchange.com/questions/11631/how-to-setup-multiple-wifi-networks

Export files from raspberry pi

scp rover@<IP Address of Raspberry Pi>:<Path to File>

Safely shut down raspberry pi

sudo halt -p or: sudo poweroff or: sudo shutdown -h now

Controlling the raspberry pi camera

Guide: https://projects.raspberrypi.org/en/projects/getting-started-with-picamera/3

Set up rtsp stream for raspi and raspicam

https://github.com/bluenviron/mediamtx?tab=readme-ov-file#rtsp-cameras-and-servers Install mediamtx, set up using this guide NB! I lowered the bitrate and the resolution because with the configuration in James' example it crashed (not sure if internet repeater or pi zero who crashed). I now use paths: cam: source: rpiCamera rpiCameraWidth: 640 # instead of 1080 rpiCameraHeight: 480 # instead of 720 rpiCameraVFlip: true rpiCameraHFlip: true rpiCameraBitrate: 500000 # instead of 1500000

Assembly and setup information

details of assembly : https://4tronix.co.uk/blog/?p=2112 Rover coding examples : https://github.com/4tronix/MARS-Rover How to set up static ip on raspberry pi: https://www.youtube.com/watch?v=d1y1ZIIX-XQ&t=293s

Pi zeros are currently configured to work with Bastian's home wifi. This can be changed by 1) Rewriting the SD card with new network name & password using raspberry imager or 2) using "sudo raspi-config" after establishing a remote connection

IP Addresses

IP @ rover : 192.168.0.168 [TODO] IP @ rover2 : 192.168.0.169

Connecting remotely to rovers

Rover: ssh [email protected] or ssh [email protected]

Rover2: ssh [email protected] or ssh [email protected]

how to connect to the raspberry :

Adding git ssh verification for raspberry pi

First, ensure that the git repo is cloned using ssh, not https to avoid having to reconfigure the "remote.origin.url". If need be, use the following command: git config remote.origin.url "[email protected]:bastiankrohg/smart-rover.git" Generate key and add to git: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account?platform=linux

Ensure user.email + user.name is set globally, if requested.

Rover python guide

• https://4tronix.co.uk/blog/?p=2409

Known Issues

Testing Rover with python examples from 4tronix:

SETUP & TEST ROVER - Missing packages to run calibrateServos.py: First create a venv and activate it -> link: https://www.google.com/url?sa=t&source=web&rct=j&opi=89978449&url=https://docs.python.org/3/library/venv.html&ved=2ahUKEwiMwJet44aJAxVkfKQEHfyqNXAQFnoECAgQAQ&usg=AOvVaw1SQ6VGTcJCX7W6wOs1SpnV

• missing rpi-ws281x -> sudo pip install rpi-ws281x --break-system-packages
• missing RPi.GPIO -> pip install RPi.GPIO
• pip3 install smbus
• smbus.SMBus(1) FileNotFoundError: No such file or directory -> Activate i2c interface using sudo raspi-config -> interface -> enable (enable both i2c & SPI)
• ...