# Raspberry Pi Sensors Installation
Web version: https://hackmd.io/@cocobird231/BJidBuC6i
*`Updated: 2024/04/26`*
:::warning
**Guidance for hardware installation:** [rpi_sensors Hardware Installation](https://hackmd.io/@cocobird231/rkUS37lKc)
:::
The package installer for sensor depends on Raspberry Pi 4. The ROS2 environment is based on Docker.
**System requirements**:
- OS: Raspberry Pi OS (64-bit recommend)
- RAM: 4G or higher
:::info
[How to write Raspberry Pi OS into SD card?](https://hackmd.io/@cocobird231/S1eCXHR6i)
:::
**Now supported sensor types**:
- GPS module (MAX-M8Q GNSS, ZED-F9P HAT)
- SenseHat module (IMU and environment sensors)
- RF Communication module (send and receive)
- Ultrasound module (HC-SR04 sensors)
- Webcam module (Based on OpenCV4)
- WebRTC streaming camera (Based on GStreamer)
---
## Usage
### For Newly Install (No `ros2_docker` Under Home Path)
Run the pre-install script`get-rpi-sensors-install.sh` to grab git controlled SensorPack directory (renamed as `ros2_docker`). **Make sure Raspberry Pi 4 is connected to the internet before installation.**
```bash
curl -fsSL ftp://61.220.23.239/rv-12/get-rpi-sensors-install.sh | bash
```
The new directory `ros2_docker` will be created under `$HOME`.
### Module Installation
1. Run the script `install.sh` under `ros2_docker` to install package for selected module.
```bash
. ~/ros2_docker/install.sh
```
Select a number for module installation
2. Determine the network interface and IP for program to execute.
3. Reboot while installation finished. The program will be running at startup automatically.
:::warning
**Effects After Installation**
- Files Creation:
- Under `$HOME/ros2_docker`
- `run.sh.tmp`
- `Dockerfile.tmp`
- `.modulename` (selected module pack name)
- `.moduleinterface` (interface setting)
- `.modulename` (IP setting)
- `common.yaml` (copy from codePack package)
- `service.json` (copy from codePack package)
- Under System Environment
- `/boot/config.txt.tmp`
- `/etc/dhcpcd.conf.tmp`
- `/etc/xdg/autostart/ros2_docker.desktop` (startup)
- Dependencies Installation
- `python3` `python3-dev` `python3-pip` `git` `curl`
- `Docker`
- APT installed packages were listed under `requirement_apt.txt`.
- Python3 pip installed packages were listed under `requirement_pip.txt`.
:::
### Module Update
1. Run the script `install.sh` under `ros2_docker` directory and enter `u` for update process.
```bash
. install.sh
# Enter 'u' for update process
```
2. The update process will update `codePack` under `ros2_docker` by pulling repositories from git server.
3. After pulling, the module program will start rebuilding if module program had been installed before.
### Module Removal
1. Run the script `install.sh` under `ros2_docker` directory and enter `r` for package remove process.
```bash
. install.sh
# Enter 'r' for update process
```
The files which describes at **Effects After Installation** section will be removed except the files installed from `requirement_apt.txt` and `requirement_pip.txt`.
- **Remove docker image (option)**
check container
```bash
sudo docker ps -a
```
stop and delete container if running
```bash
sudo docker stop <container_id>
```
```bash
sudo docker rm <container_id>
```
check images
```bash
sudo docker images
```
delete image
```bash
sudo docker rmi <image_id>
```
### Parameters Setting for ROS2
Settings may be varient in different sensors, but there are some common parameters need to be changed:
1. Device node name (under `generic_prop` tag)
2. Device ID (under `generic_prop` tag)
3. Topic name (may be one or more)
4. Publish interval (Need to be float, e.g. not `1` but `1.0`)
Modify the settings under `$HOME/ros2_docker/common.yaml` and reboot device.
---
### One Line Command
:::success
The `install.sh` now supported parser installation.
:::
The package installation, updating and removal functions can be done by adding some arguments while running `install.sh`.
#### **Overall arguments**
```bash!
. install.sh [[-i|--install] <package_name>] [--interface <network_interface>] [--ip [<static_ip>|dhcp]] [-rm|--remove] [-u|--update] [-p|--preserve]
```
- Command explanation
- **`-i|--install`**: install specific package from codePack to Docker.
- **`-rm|--remove`**: remove package settings and environment settings.
- **`-u|--update`**: update codePack without install packages.
- **`-p|--preserve`**: preserve `common.yaml` file during installation.
- **`--interface`**: determine the network interface during installation.
- **`--ip`**: determine the network ip during installation.
- Variable explanation
- **package_name**: real package name under codePack. If variable set to `auto`, the process will automatically detect current installed module settings, then install the packages.
- **network_interface**: the network interface to detect network or internet connection, e.g. `eth0` or `wlan0`.
- **static_ip**: the format should be like `ip/mask`, e.g. `192.168.1.10/16`.
:::info
- **For Commands**
The three commands `-i`, `-u` and `-rm` can be work independently. The priority order of the three commands from high to low are: `-rm` > `-u` > `-i`. That is, if three commands exists at the same time, the process will be:
1. Remove installed package settings and environment settings. (The Docker container will be preserved)
2. Update codePack without install any packages.
3. Install packages from codePack to Docker.
The flag `-p` tells the installer to keep old `common.yaml` file. If `-p` set but `-i` not set, the `-p` will be ignored. If `-p` set but the `common.yaml` file not found, the preservation will be ignored.
The `--interface` determines the network interface for network detection or internet detection while installed program startup. The `--interface` will be ignored if `-i` not set. The `--interface` is not necessary and will be set to default `eth0`.
The `--ip` can be set to `dhcp` and `<static_ip>`. If `<static_ip>` used, The `/etc/dhcpcd.conf` will be configured. The `--ip` is not necessary and will be set to default `dhcp`.
:::
:::warning
- **For Variables**
The default value of the variables describes as following:
- `package_name`: `NONE`
- `network_interface`: `eth0`
- `static_ip`: `NONE`
The `package_name` is necessary if `-i` set. The valid name of `package_name` were shown under codePack. If the package had installed before, set `package_name` to `auto` is valid for process to auto detect the package name.
If `package_name` set to `auto`, the process will ignored `--interface` and `--ip` settings.
The `network_interface` is necessary if `--interface` set. The `network_interface` do not have any valid check mechanism, be careful of the mistyping.
The `static_ip` is necessary if `--ip` not set to `dhcp`.
:::
#### **Examples**
- Install package
```bash!
. install.sh -i <package_name> [--interface <network_interface>] [--ip [<static_ip> | dhcp]]
```
- Update codePack
```bash!
. install.sh -u
```
- Update codePack then install package
```bash!
. install.sh -i <package_name> [--interface <network_interface>] [--ip [<static_ip> | dhcp]] -u
```
- Update current package while preserve `common.yaml`
```bash!
. install.sh -u -i auto -p
```
- Remove current package
```bash
. install.sh -rm
```
- Remove current package, update codePack and install package
```bash!
. install.sh -rm -u -i <package_name> [--interface <network_interface>] [--ip [<static_ip> | dhcp]]
```
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