raspberrypi, jetson & ROS - feliyur/exercises GitHub Wiki
sudo dd if=<input image>.img of=/dev/<SD card device> bs=1M
ssh pi "sudo dd if=/dev/mmcblk0 bs=1M | gzip -" | dd of=~/Desktop/pibackup.gz
to see progress, use either pv command (might need to install), or dd ... status=progress option. See here.
Instructions taken from here.
Password is stored in /etc/shadow file. Removing user's pi password then running sudo pi will allow to change it without inputting the old one. Just delete the password, not the entire line! like so:
pi:$wjeg2hgojglaghlkhj0349guoihdajsdgjo39jfjalajgljg:17178:0:99999:7:::
more options here
(tl; dr: either raspi-config from command line, or edit password in configuration GUI).
Can remove need for password by editing /etc/passwd file, deleting "x" for authentication:
E.g. change pi:x:1000:1000:,,,:/home/pi:/bin/bash into pi::1000:1000:,,,:/home/pi:/bin/bash
If any file got corrupted can fix by re-connecting the SD card to a working linux machine, then mounting it locally and making required fixes to the files.
source /opt/ros/noetic/setup.bash |
or <workspace_dir>/devel/setup.bash. |
catkin build |
(prefer over catkin make which is the older version). |
catkin clean |
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rostopic list |
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rostopic echo TOPIC [-b bagfile] [-n num_messages] |
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rosbag record TOPIC1 [TOPIC2 TOPIC3 ...] -l<NUM> -O <output_name.bag> |
Record NUM messages on each topic. |
rosrun rqt_reconfigure rqt_reconfigure |
Dynamic configure parameters. |
export ROS_MASTER_URI=http://192.168.1.158:11311 |
Set URI of roscore |
catkin |
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rostopic |
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rosmsg |
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rosbag |
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rospack |
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rviz |
http://wiki.ros.org/Installation/Windows
Enable camera via Preferences ==> Raspberry Pi Configuration ==> Interfaces ==> Camera
Take a single shot:
raspistill -o test.jpg
Stream video
raspivid -o - -t 0 -w 800 -h 600 -fps 12 | cvlc -vvv stream:///dev/stdin --sout '#rtp{sdp=rtsp://:8091/}' :demux=h264
Source: this tutorial.
To reduce disconnects, can try to add --rtsp-timeout 10 --h264-fps=12 arguments to cvlc. Make sure that fps argument to raspivid matches that of cvlc, i.e. number of frames produced matches the number consumed.
http://www.yahboom.net/study/Jetson-TX2-NX ==> Move the system to SSD
https://www.waveshare.com/wiki/JETSON_NANO_TX2_NX#Set_The_System_To_Boot_From_SSD
sudo vim /usr/share/glib-2.0/schemas/org.gnome.Vino.gschema.xml
Add key:
<key name='enabled' type='b'>
<summary>Enable remote access to the desktop</summary>
<description>
If true, allows remote access to the desktop via the RFB protocol. Users on remote machines may then connect to the desktop using a VNC viewer.
</description>
<default>true</default>
</key>
Save and re-compile schemas:
sudo glib-compile-schemas /usr/share/glib-2.0/schemas
Now "Desktop Sharing" panel should have stopped. Open the app and tick checkboxes to allow access.
Alternatively (or if the above still doesn't work), using the command line:
export DISPLAY=:0
gsettings set org.gnome.Vino enabled true
gsettings set org.gnome.Vino prompt-enabled false
gsettings set org.gnome.Vino require-encryption false
/usr/lib/vino/vino-server
Should launch and start listening now. Can verify that server is listening using
netstat -tuln
and look for LISTENING on port 5900 or 5901 which are the default VNC ports.
- Settings => Network => Wireless => Turn hotspot on
- Connections menu at the top of the desktop => Edit connections => Edit Hotspot => Wi-Fi tab => Set Mode to Hotspot (and not ad-hoc).
- Connections menu again ==> Connect to hidden wi-fi network ==> connect.
Taken from https://www.youtube.com/watch?v=GAOvGAdwiHk
Correctly copy entire tree, e.g. rootfs
cp -ax <src> <tgt>
Kill all processes using a given port
fuser -kv /dev/ttyUSB9