車載物聯網 - HackMD

# 車載物聯網 **<...>表示該處位置須按照當下狀況決定** **ex. <containerId> 表該處要填入欲操作的container id** ## docker - build image ``` docker build -t <image-tag> . ``` - run image with camera ``` docker run -it --device=/dev/video0:/dev/video0 <image-tag> ``` - 利用`-v`參數，使得實體主機的資料夾路徑 Mapping 到 Container 的資料夾路徑 ``` docker run -it -v ~/ROS2Docker:/ROS2Docker --device=/dev/video0:/dev/video0 ros2:latest bash ``` - 啟動已存在的container ``` docker start <containerId> ``` - 進入已啟動的container ``` docker exec -it <containerId> bash ``` - `-d`參數可以使container背景執行 - port mapping ``` docker run -d -p 8080:80 ytmp3api:latest ``` ![image](https://hackmd.io/_uploads/BJrpbQ_DA.png) - **利用docker run創建新的container的附帶條件(device、volume)已經被記錄下來** - **利用docker start啟動已經存在的container時不用再次指定** ## ROS - create package ``` ros2 pkg create --build-type ament_python --node-name <nodeName> <packageName> ``` for example: ``` ros2 pkg create --build-type ament_python --node-name hello_world beginner_tutorials_py ``` - build package - 檢查dependency是否安裝 ``` cd <ros2_workspace> rosdep install -i --from-path src --rosdistro humble -y ``` - build package ``` colcon build --symlink-install --packages-select <packageName> ``` - **不要忘了source setup讓ROS2知道package的位置** ``` source <ros2_workspace>/install/setup.bash ``` - Run Node ``` ros2 run <packageName> <nodeName> ``` - 現成的webcam node - 安裝 ``` sudo apt install ros-humble-usb-cam ``` - 啟動 ``` ros2 run usb_cam usb_cam_node_exe ``` ## python虛擬環境喜報，ros2跟anaconda不合依據官方文件，請愛用virtualenv https://docs.ros.org/en/humble/How-To-Guides/Using-Python-Packages.html#installing-via-a-virtual-environment 下面是virtualenv的官方文件 https://virtualenv.pypa.io/en/latest/index.html ## matplotlob opencv boom 這兩玩意在linux中使用的時候opencv須安裝不帶GUI的版本`opencv-python-headless`，因為帶GUI的opencv使用的QT跟matplotlib使用的QT會起衝突，然後就爆炸了，屌你老母 ## reference - https://github.com/twtrubiks/docker-tutorial - https://koding.work/how-to-use-docker-to-run-ros2-app/ - https://jiangchengcheng.notion.site/ROS_Robot-Operating-System-4d6b130b78544415bafd68bb1a78f3ad - https://hackmd.io/@evshary/ROS2Note - https://ithelp.ithome.com.tw/users/20135014/ironman/6784 - https://hackmd.io/@jerrychu/S1QvFG98h - https://answers.ros.org/question/371083/how-to-use-python-virtual-environments-with-ros2/ - https://dotblogs.com.tw/grayyin/2019/06/25/142934 - https://stackoverflow.com/questions/64043973/matplotlib-interactive-mode-wont-work-no-matter-what-i-do - https://github.com/sayakpaul/Adventures-in-TensorFlow-Lite - https://github.com/opencv/opencv-python/issues/386 - https://hackmd.io/@9kDD5OucTsigU4yUanEPQg/HJsVB5Ce0