riberry-robot 0.1.3

Riberry: Robot Intelligent Binary Enhancement Resource Revolutionary Yield

Riberry: Robot Intelligent Binary Enhancement Resource Revolutionary Yield

Install Riberry

For radxa

After cloning this repository into your catkin workspace, build it:

catkin build riberry_startup

After sourcing, install the systemd-related programs with the following commands:

pip3 install -e .
sudo ./install.py
sudo reboot

You can use the dry-run option to see which scripts will be installed without actually installing them:

./install.py --dry-run

For atom s3 and atom echo

Please write the programs found under the firmware section into the atom s3 and atom echo to display the IP and capture audio.

Atom S3 Display

Additional Information

You can use ROS to publish additional information to your Atom S3 display. The following script demonstrates how to publish a message with color formatting using the colorama library:

import rospy
from std_msgs.msg import String
from colorama import Back

rospy.init_node('publisher', anonymous=True)
pub = rospy.Publisher('/atom_s3_additional_info', String, queue_size=10)
rospy.sleep(1)  # Ensure the publisher is properly set up

message = String()
message.data = Back.RED + "Test\nprint\n" + Back.RESET
pub.publish(message)
rospy.loginfo("Message published")

This script sets up a ROS publisher node that sends a message to the /atom_s3_additional_info topic. The message text is colored red using colorama. By using ROS and colorama, you can easily publish and display colored messages on your Atom S3 display.

Displaying Images on Atom S3

You can also display images on your Atom S3 by setting a ROS parameter. To display an image, you need to set the /display_image parameter to the desired image topic. For example:

rosparam set /display_image "/camera/color/image_raw"

This command sets the /display_image parameter to the /camera/color/image_raw topic, which will then be displayed on the Atom S3.

To revert back to the normal display (i.e., stop displaying the image), you can reset the /display_image parameter to an empty string:

rosparam set /display_image ""

By managing the /display_image parameter, you can control when and which images are displayed on your Atom S3.

Button States for /atom_s3_button_state Topic

The /atom_s3_button_state topic publishes messages of type std_msgs/Int32. The value corresponds to different button states as shown in the table below:

Button State	Value
Not Changed	0
Clicked 1-10 Times	1-10
Long Pressed	11
Released	12
Reset	13

AtomS3 mode for /atom_s3_mode Topic

AtomS3 has multiple modes, which can be switched with a long click. You can get which mode AtomS3 is in by topic. The /atom_s3_mode topic publishes messages of type std_msgs/String. You can use /atom_s3_mode as well as /atom_s3_button_state to define robot operations.

Analyze Core Dump

Riberry provides a tool to read and analyze core dumps from supported devices (e.g., M5Stack-Basic, Atom S3). riberry-analyze-core-dump allows you to retrieve core dump information and generate a clickable GitHub issue link for reporting.

Run the script to analyze a core dump:

riberry-analyze-core-dump

You can optionally specify an ELF file for additional debugging information:

riberry-analyze-core-dump --elf-path /path/to/firmware.elf

Here’s an example of what the tool outputs when run on a Radxa Zero:

Core dumped Firmware version: 20df8eb
LCD rotation: 1
Use Grove: 0
Device: Radxa Zero
Communication: I2CBase

PC      : 0x4209c205  PS      : 0x00060030  A0      : 0x820092bc  A1      : 0x3fcab140
A2      : 0x3fc9b2f0  A3      : 0x3fc9b410  A4      : 0x3fc9b380  A5      : 0x00000004
A6      : 0x3fcedf28  A7      : 0x80000001  A8      : 0x00000000  A9      : 0x3fcf5720
A10     : 0x00060023  A11     : 0x00000003  A12     : 0x00060023  A13     : 0x80000000
A14     : 0x00000000  A15     : 0x00ffffff  SAR     : 0x00000000  EXCCAUSE: 0x0000001d
EXCVADDR: 0x00000000  LBEG    : 0x00000000

Click here to create a GitHub issue

Feel free to create a GitHub issue.

Distribute radxa image as SD card

When distributing images, it's necessary to adjust the disk size among other parameters initially due to writing to an SD card. The resize-helper.service is a tool designed for this purpose. To enable this, please use the --enable-oneshot option to activate these settings. Additionally, the change-hostname-helper.service, which randomly changes the hostname, will also be enabled.

Run the following command just before making SD cards for distribution:

sudo ./install.py --enable-oneshot

If you are concerned about the security of the network:

# sudo rm -f /etc/NetworkManager/system-connections/*

Install wifi-connect

sudo apt install -y curl unzip
curl https://gist.githubusercontent.com/708yamaguchi/5dc14b90fedc30ca6785f8f7fb741627/raw/71de8351897517721c23bc6fe12f974ed6582a3a/radxa-install.sh | bash

Contributing

Automatic Formatting

riberry uses ruff for both linting and formatting which is configured in pyproject.toml, you can run with:

ruff format
ruff check --fix .

Clang-Format

To install clang-format, you can use the following command:

pip install clang-format

Once installed, you can format your files using a .clang-format configuration file. To format a file, run:

clang-format -i <filename>

Replace <filename> with the name of the file you want to format. The -i option tells clang-format to edit the file in place.