head_driver

install raspbian

this package need :

                ROS Groovy 

Installation:

ROS:

install ROS Grovvy http://wiki.ros.org/groovy/Installation/Raspbian

now use git clone to download the package:

  $ cd catkin_ws/src

  $ git clone https://github.com/mekhtiche/head_driver_pkg.git

  $ cd ..

  $ catkin_make

source the work space

  $ sudo nano .bashrc

in the end of the file add "source ~/catkin_ws/devel/setup.bash"

To launch the head package:

  $ roslaunch head_driver_pkg face.launch

Network configuration:

First in raspberrypi configuration change the hostname of raspberrypi to "head" and password to "headdriver" and in interface panel enabel the SSH 

Change the configuration in hosts file:
  
  $ sudo nano /etc/hosts
  
  comment the line of head ip address and add two new lines:
  
    #127.0.0.1  head
    10.42.0.1   odroid
    10.42.0.25  head
    
  save it.
  
  Make sure that the raspberrypi always conect to ROBOT Wi_Fi.

To use remote launch with robot_body you should add source command of your work space in the end of file: /opt/ros/groovy/env.sh it should look like this:

  #!/usr/bin/env sh
  # generated from catkin/cmake/templates/env.sh.in

  if [ $# -eq 0 ] ; then
    /bin/echo "Usage: env.sh COMMANDS"
    /bin/echo "Calling env.sh without arguments is not supported anymore. Instead$
    exit 1
  else
    . "/opt/ros/groovy/setup.sh"
    . "/home/pi/catkin_ws/devel/setup.sh"
    exec "$@"
  fi

If the package has grafic interface the remote launch will not work like this package, the solution is to use the autostart with option of waitiong for master to start:

First in home folder create file launch.sh and type in it :

  #!/bin/sh
  export ROS_MASTER_URI=http://odroid:11311
  . "/opt/ros/groovy/setup.sh"
  . "/home/pi/catkin_ws/devel/setup.sh"
  roslaunch --wait head_driver_pkg face.launch

save it.

in /usr/shar/applications create file "autolaunch.desktop" and put on it: >>>>> use "sudo"

  [Desktop Entry]
  Name=autolanch
  Exec=/home/pi/launch.sh
  Type=Application
  Terminal=false

save it. REF https://askubuntu.com/questions/166777/how-can-you-make-a-sh-file-come-on-at-startup-in-lubuntu-12-04

now copy and paste the file "autolaunch.desktop" to /etc/xdg/autostart/

reboot the system.

In this method the system will start automaticly when the raspberrypi boot and still waiting for the master to start in the odroid bord.

To configure the VU5 HDMI screen commant all lines in /boot/config.txt and in the end of the file add:

  hdmi_cvt=800 480 54
  hdmi_group=0
  hdmi_mode=87
  hdmi_drive=1

To Force the screen to stay on

$ sudo nano /etc/lightdm/lightdm.conf

Add the following lines to the [SeatDefaults] section:

# don't sleep the screen
xserver-command=X -s 0 dpms