This document describes how to run and compile the software for the ROMI Rover.
The software of the rover runs on Linux. It is not tied to a specific Linux distribution but we have tested it mostly on recent versions of Debian (includin Raspian) and Ubuntu.
The software is mostly writen in C++ and depends on the following libraries:
rcom: An inter-process communication framework. It provides real-time communication using UDP messages and high-level communication based on web protocols (HTTP, Websockets). The code is available on GitHub and separate documentation is available also.
libromi: The library with thd base classes for the romi rover: Code. This repository also contains the firmware for most of the microcontrollers used in the Rover, Plant Imager, and Cablebot.
romi-rover: All of the apps for the Romi rover, including
Installing a Raspberry Pi from scratchLink
We use the Lite version of Raspbian. You can download it at https://www.raspberrypi.org/downloads/raspbian/. There are several ways to prepare the disk image for the RPi. Check the page at https://www.raspberrypi.org/documentation/installation/installing-images/ (there’s lots of information available on this topic online) and follow the instructions that suit you best.
Once you have the SD card, connect RPi to screen, keyboard and network (ethernet), power up the board and log in (user pi, password raspberry). The first thing you want to do is change some of the default settings using the raspi-config tool. In the console type:
$ sudo raspi-config
The list of settings that you may want to look at includes:
1 Change User Password 2 Network Options Hostname WiFi 4 Localisation Options Change locales Change keyboard layout 5 Interfacing Options Enable SSH 8 Update
Next, create the user ‘romi’:
$ sudo adduser romi $ sudo adduser romi dialout $ sudo adduser romi video $ sudo adduser romi sudo
After that, quit the current session and login again as user ‘romi’.
The nano text editor is installed by default but if you prefer anoher editor, now is a good time to install it:
$ sudo apt install emacs-nox (... or any editor you like :)
Install the developer tools:
$ sudo apt install build-essential cmake git
Install the software dependencies:
$ sudo apt install libpng-dev libjpeg9-dev
Installing the romi-rover appsLink
The Reaspberry Pi comes with a file calles
preloads an library for all applications. This mechanism conflicts
with our use the Address
to detect memory errors. So you should hide the existing file:
$ mv /etc/ld.so.preload /etc/ld.so.preload.backup
The installation has it own documentation on github.
Compiling the romi-cameraLink
romi-camera application is used in the Rover, Cablebot, and
Plant Imager. Because the camera uses the Raspberry Pi Zero, which has
less RAM memory than its larger siblings.
The installation proceeds as described in the documentation of romi-rover-build-and-test. However, it is not necessary to compile all applications and limit this step to the camera app only:
$ mkdir build $ cd build/ $ cmake .. $ make romi-camera
Starting up the software manuallyLink
As explained in the rcom
rcom-registry has to be started before the other
applications. It can be started remotely using ssh as follows:
$ ssh email@example.com /home/romi/romi-rover-build-and-test/build/bin/romi-camera \ --registry <IP-ADDRESS-REGISTRY> --mode video --fps 5 --bitrate 12000000
In the second step, the
romi-camera should be started up. The rcom
c onnections use a time-out so there is some flexibility in the
start-up order of the applications.
If you use any Python code, such as the Unet neural network for the image segmentation, the following script can be used:
$ python3 ./application/romi-python/main.py \ --model-path <PATH-UNET-WEIGHTS>
romi-rover application should be started.
$ ./build/bin/romi-rover --config $CONFIG_FILE \ --session $SESSION_DIR --script $SCRIPT_FILE
A more elaborate example can be found in this
It should be called indirectly using the
$ cd scrips $ ./intra-row-weeding-tbm
Starting the apps on bootLink
Currently we are still using the old rc.local mechanism. The file
/etc/rc.local is no longer included in more recent Ubuntu versions. If
ls /etc/rc.local returns an error, you will have to create the file
$ sudo nano /etc/rc.local
Copy the following contents:
#!/bin/sh -e # # rc.local # # This script is executed at the end of each multiuser runlevel. # Make sure that the script will "exit 0" on success or any other # value on error. # # In order to enable or disable this script just change the execution # bits. # # By default this script does nothing. exit 0
Finally, make the script executable.
$ sudo chmod +x /etc/rc.local
To enable the apps on start-up, add the following line in
/etc/rc.local, above the
exit 0 line:
sudo -u romi PATH-TO-STARTUP-SCRIPT &
The CNC interface is exported by the
|camera:grab-jpeg-binary||None||A binary buffer with a JPEG-encoded image|
|camera:set-value||name: the name of the setting, value: the numerical value||None|
|camera:select-option||name: the name of the option, value: the value as a string||None|
The CNC interface is exported by the
|cnc-homing||None||None||Starts the homing procedure that puts the CNC's arm in the home position|
|cnc-moveto||x, y, z: the position to move to, speed: the relative speed, as a fraction of the absolute speed||None|
|cnc-spindle||speed: the speed, between 0 and 1||None|
|cnc-travel||path: a list of [x, y, z] points, speed: the relative speed||None|
|cnc-get-range||None||The dimensions of the CNC, as [[xmin, xmax], [ymin, ymax], [zmin, zmax]]|
|cnc-helix||xc, yc: the center point of the arc, alpha: the angle of the arc, z: to z-position to move to, speed: the relative speed||None|
|cnc-get-position||None||Returns the position as|