# Raspberry Pi Chassis Installation
Web version: https://hackmd.io/@cocobird231/SybyWAYjh
*`Updated: 2024/04/26`*
The package installer for chassis 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
**Now supported sensor types**:
- Chassis module (Axle, Steering)
---
## Usage
### For Newly Install (No `ros2_docker` Under Home Path)
Run the pre-install script `get-chassis-install.sh` to grab git controlled installer 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-chassis-install.sh | bash
```
The new directory `ros2_docker` will be created under `$HOME`.
### Module Installation
1. Run the script `install.sh` under `ros2_docker` to install program for selected module.
```bash
. ~/ros2_docker/install.sh
```
Select a number (for now just 1) for module installation
2. Determine the network interface and IP for program to execute.
3. Reboot while installation finished. The program will be running at startup automatically.
:::warning
**Effects After Installation**
- Files Creation:
- Under `$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`)
:::info
The device ID in chassis module is used to define the module behavior, for axle functions, the ID must set under \[11, 14\]; for steering functions, the ID must set under \[41, 44\]
:::
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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