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Recovery

OP3 Manual Installation​

Overview​

This chapter explains how to manually install and configure the main software of the ROBOTIS-OP3.

User Installation​

OS Installation​

OS Installation

  • Linux Mint 22 Xfce

Reference : How to Install Linux Mint

PC Setup​

  • WiFi Hotspot
  1. Right-click on the Network icon in the system tray at the bottom right corner of your screen and select Edit Connections....
  2. In the Network Connections window, click Add(+) button.
  3. In the Choose a Connection Type window, select Wi-Fi from the Hardware group.
  4. Click Create... button.
  5. Modify the Connection name to OP3-Hotspot in the new window.
  6. Change the SSID to ROBOTIS-OP3-Share in the Wi-Fi tab.
  7. Select Hotspot Mode and click Save button.
  8. Close the Network Connections window.
  9. Click the Network icon from the bottom right corner of the system tray and select Connect to Hidden Wi-Fi Network....
  10. Select OP3-Hotspot for the Connection in the Hidden Wi-Fi network and click the Connect button.

  • Other Settings

    1. Increase real-time scheduling priority (rtprio) for current user's group 
      $ sudo bash -c 'echo "@robotis - rtprio 99" > /etc/security/limits.d/robotis-rtprio.conf'
    2. Add user to appropriate groups 
      $ sudo usermod -aG dialout,video,audio robotis
    3. Configure USB latency timer to 1ms at startup
      • create a udev rules file 
        $ sudo nano /etc/udev/rules.d/50-latency-timer.rules
      • add the following rule to the file 
        ACTION=="add", SUBSYSTEM=="usb-serial", DRIVER=="ftdi_sio", ATTR{latency_timer}="1"
      • reload udev rules 
        $ sudo udevadmin control --reload-rules
        $ sudo udevadmin trigger

  • Server Settings

    • openssh Installation

      $ sudo apt install openssh-server

    • Desktop sharing

      1. Vino Installation and configuration 
        $ sudo apt install vino
        $ gsettings set org.gnome.Vino require-encryption false
        $ gsettings set org.gnome.Vino prompt-enabled false
        $ gsettings set org.gnome.Vino authentication-methods "['vnc']"
        $ gsettings set org.gnome.Vino vnc-password $(echo -n '111111'|base64)
      2. Start → Session and Startup → Application Autostart → Add button
        • Name : Desktop Sharing
        • Description : vnc server
        • Command : /usr/lib/vino/vino-server --sm-disable
        • Trigger : on login
      3. OK button
      4. logout & login

    • Samba

      1. Installation 
        $ sudo apt install -y samba samba-common
      2. Create a samba user 
        $ sudo smbpasswd -a robotis
        [sudo] password for robotis: 111111
        New SMB password: 111111
        Retype new SMB password: 111111
      3. Append the following to the /etc/samba/smb.conf file 
        [root directory]
            comment = Root Directory
            path = /
            browseable = yes
            read only = no
            writable = yes
            create mask = 0755
            directory mask = 0755
            valid users = @robotis
      4. Restart service 
        $ sudo service smbd restart

    • Apache(for web_setting_tool)

      1. Install web server(APACHE2) 
        $ sudo apt install apache2
      2. Check the default page from a web browser

ROS Installation & Environment Setup​

  1. ROS Installation

    Reference : ROS Installation

  2. ROS Environment Setup

    Reference : ROS Environment and Network Settings

DDS Middleware and Network tuning​

  • Change DDS Middleware

    • Install CycloneDDS 
      $ sudo apt install ros-jazzy-rmw-cyclonedds-cpp
    • Append the following to your ~/.bashrc file: 
      export ROS2_WS='robotis_ws'
      source /opt/ros/jazzy/setup.bash
      source ~/$ROS2_WS/install/local_setup.bash

      export ROS_DOMAIN_ID=1
      export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      export CYCLONEDDS_URI=file:///home/robotis/.ros/cyclonedds.xml

  • Tuning for large messages
    DDS implementations are not designed to handle large messages (such as images). Therefore, it is necessary to tune them and the network parameters to prevent data loss and system overloading.

    • Increase the minimum socket receive buffer and maximum size of messages for CycloneDDS
      Create the CycloneDDS configuration file: 
      $ nano ~/.ros/cyclonedds.xml
      <?xml version="1.0" encoding="UTF-8" ?>
      <CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
        <Domain id="any">
          <General>
            <Interfaces>
              <NetworkInterface name="lo" />
            </Interfaces>
            <AllowMulticast>false</AllowMulticast>
            <MaxMessageSize>65500B</MaxMessageSize>
          </General>
          <Internal>
            <SocketReceiveBufferSize min="10MB"/>
            <Watermarks>
              <WhcHigh>500kB</WhcHigh>
            </Watermarks>
          </Internal>
          <Discovery>
            <ParticipantIndex>auto</ParticipantIndex>
            <MaxAutoParticipantIndex>100</MaxAutoParticipantIndex>
            <Peers>
              <Peer Address="127.0.0.1"/>
            </Peers>
          </Discovery>
        </Domain>
      </CycloneDDS>
    • Create a network configuration file: 
      $ sudo nano /etc/sysctl.d/10-cyclone-max.conf
      # IP fragmentation settings
      net.ipv4.ipfrag_time=3  # in seconds, default is 30 s
      net.ipv4.ipfrag_high_thresh=33554432  # 32 MiB, default is 4 MiB

      # Increase the maximum receive buffer size for network packets
      net.core.rmem_max=134217728  # 128 MiB, default is 208 KiB
    • Save the file and reboot. Validate the sysctl settings, after a reboot: 
      $ sysctl net.core.rmem_max net.ipv4.ipfrag_time net.ipv4.ipfrag_high_thresh
      net.core.rmem_max = 134217728
      net.ipv4.ipfrag_time = 3
      net.ipv4.ipfrag_high_thresh = 33554432

Installing ROBOTIS ROS Packages​

  • ROBOTIS ROS Packages

    • DYNAMIXEL SDK : SDK for DYNAMIXEL
    • ROBOTIS-Math : basic calculation related to transformation and trajectory functions
    • ROBOTIS-OP3 : ROS packages running on the ROBOTIS-OP3
    • ROBOTIS-OP3-Common
    • ROBOTIS-OP3-Demo : ROBOTIS-OP3 demonstration package.
    • ROBOTIS-OP3-ETC : : This package contains a modified version of the usb_cam driver and face_detection used for the ROBOTIS-OP3
    • ROBOTIS-OP3-msgs : This package contains the ROS messages that are used for the ROBOTIS-OP3
    • ROBOTIS-OP3-Tools : This package contains useful tools for the ROBOTIS-OP3
    • ROBOTIS-Utility : This package contains the audio player for the ROBOTIS-OP3

  • How to install ROBOTIS ROS packages

    • Download sources from Github. 
      $ mkdir -p ~/robotis_ws/src
      $ cd ~/robotis_ws/src
      $ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git --branch=jazzy
      $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Math.git --branch=jazzy-devl
      $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3.git --branch=jazzy-devl
      $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Common.git --branch=jazzy-devl
      $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo.git --branch=jazzy-devl
      $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-ETC.git --branch=jazzy-devl
      $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-msgs.git --branch=jazzy-devl
      $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Tools.git --branch=jazzy-devl
      $ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Utility.git --branch=jazzy-devl

Installing additional applications for ROBOTIS ROS Package​

  • update package list 
    $ sudo apt update
  • install python3-rosdep 
    $ sudo apt install python3-rosdep
  • initialize rosdep and update the rosdep database 
    $ sudo rosdep init
    $ rosdep udpate
  • use rosdep to install dependencies 
    $ cd ~/robotis_ws
    $ rosdep install --from-paths src --ignore-src -r -y --os=ubuntu:noble
    • --from-paths src : specifies the source directory where your ROS packages are located.
    • --ignore-src : ignores packages within the source directory itself.
    • -r : resolves dependencies recursively.
    • -y : automatically answers "yes" to all prompts.
  • install additional packages
    • for ROBOTIS-Utility : madplay, mpg321 
      $ sudo apt install -y madplay mpg321
    • ETC. 
      $ sudo apt install -y ros-jazzy-xacro ros-jazzy-imu-tools python3-pydantic

Build downloaded ROBOTIS ROS packages.​

$ cd ~/robotis_ws
$ colcon build --symlink-install && source ~/.bashrc

ETC Setting​

  • Configure web_setting_tool

    1. Copy files from ROBOTIS-OP3-Tools folder to the web server folder : github 
      $ cd ~/robotis_ws/src/ROBOTIS-OP3-Tools/op3_web_setting_tool
      $ sudo cp -r ./html /var/www
    2. Check the default page from a web browser
    3. How to Use the Web Setting Tool

  • Configure Shutdown Sound

    1. Create /etc/init.d/shutdown-snd file.
      Create the above file with a text editor. 
      $ sudo xed /etc/init.d/shutdown-snd
    2. Append the following information to the file and save. 
      #! /bin/sh
      /usr/bin/madplay "/usr/share/sounds/byebye.mp3"
    3. Add execution permission to the file. 
      $ sudo chmod +x /etc/init.d/shutdown-snd
    4. Copy shutdown mp3 to /usr/share/sounds/ folder. 
      $ sudo cp ~/robotis_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Bye\ bye.mp3 /usr/share/sounds/byebye.mp3
    5. Create a service for the shutdown sound.

      1. Create the /etc/systemd/system/shutdown_sound.service file

        $ sudo xed /etc/systemd/system/shutdown_sound.service

      2. Append the below information to the file and save.

        [Unit]
        Description=shutdown sound
        After=network.target

        [Service]
        Type=oneshot
        ExecStart=/bin/true
        ExecStop=/etc/init.d/shutdown-snd
        RemainAfterExit=yes

        [Install]
        WantedBy=multi-user.target

      3. Register the Service and execute

        $ systemctl daemon-reload
        $ systemctl enable /etc/systemd/system/shutdown_sound.service --now

  • Configure Power Button for shutdown

    1. Go to Start Button > Settings > Power Manager.
    2. Go to General > Buttons > When power button is pressed and change the option to Shutdown.

  • Running the demo at the startup

    Reference: Running the demo at the startup

Recovery of ROBOTIS-OP3​

Overview​

This chapter explains how to recover the ROBOTIS-OP3 software using the recovery USB image.

CloneZilla recovery​

Clonezilla can be used to recover the ROBOTIS-OP3 software from the image file in the provided backup USB.

How to creat a recovery USB media​

  • Format a USB drive (8GB or more space is required)
  • Go to sourceforge.net and download a recovery image file.
info

NOTE: The required image file may differ depending on the generation of the installed SBC. Be sure to check the following table and download the appropriate image file for your NUC PC.

Recovery Image ListDescription
clonezilla-live-ROBOTIS-OP3_Recovery_250GB_250226.zipOP3 Rev.3 only (SSD 250GB)
clonezilla-live-ROBOTIS-OP3_Recovery_181019(NUC_7th).zipOP3 Rev.2 only (NUC7)
clonezilla-live-ROBOTIS-OP3_Recovery_180402.zipLatest version for NUC 6 only
clonezilla-live-ROBOTIS-OP3_Recovery_171013.zipOlder image for NUC 6 only
  • Extract the zipped folder to the root folder of the USB drive. The folder structure is as follows. 
    .
    ├── .disk
    ├── [BOOT]
    ├── boot
    │   └── grub
    ├── EFI
    │   └── boot
    ├── home
    │   └── partimag
    │       └── ROBOTIS-OP3_Recovery_250GB_25xxxx
    ├── live
    ├── syslinux
    └── utils
        ├── linux
        ├── mbr
        ├── win32
        └── win64

How to recover ROBOTIS-OP3​

  1. Go to boot manager : Press F10
  2. Select the boot device : Recovery USB media
  3. Select the image : Clonezilla live (VGA 800x600)
  4. Recovery will automatically start, and the PC will turn off when it's done.
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