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MicroROS-Pi5📖
01. Introduction
  • 0.Unpacking and reviewing video
  • 1. ReadMe - learning route
  • 2. Introduction to lidar
  • 3. Introduction to microROS control board
  • 4. FAQ
  • 5. About charging
02. Assembly course
  • Assembly steps
03. Preparation
  • First Trial
  • 1. Write firmware
  • 2. MicroROS control board parameter configuration
  • 3. Connect to MicroROS agent
  • 4. Connect to WIFI in hotspot mode
04. Quick start control course
  • 1. Self start handle control
  • 2. Close the self-starting handle control process
  • 3. Quick start keyboard control
  • 4. Map navigation and APP control
05. Robot basic course
  • 1. Robot information release
  • 2. Robot keyboard control
  • 3. Robot handle control
  • 4. Robot state estimation
  • 5. Linear speed calibration
  • 6. Angular velocity calibration
  • 7. Robot URDF model
06. ROS+OpenCV course
  • 1. Getting started with Opencv CV
  • 2. Geometric transformation
  • 3. Image processing and drawing
  • 4. Open Source CV image beautification
  • 5. QR code creation and recognition
  • 6. AR vision
  • 7. ROS+Opencv application
07. Mediapipe course
  • 1. Hand detection
  • 2. Posture detection
  • 3. Overall detection
  • 4. Face detection
  • 5. Face recognition
  • 6. Face effects
  • 7. 3D object recognition
  • 8. Brush
  • 9. Finger control
  • 10 .Gesture recognition
08. Robot visual interaction
  • 1. Monocular camera calibration
  • 2. Color tracking
  • 3. Object recognition and tracking
  • 4. Face recognition tracking
  • 5. Autonomous driving line patrol
  • 6. QR code motion control
  • 7. Gesture control of basic movement of the car
  • 8. Control the car movement with your palm
  • 9. Gesture control car action group
  • 10. Palm control of the two-dimensional gimbal servo
09. Lidar course
  • 1. Lidar avoid
  • 2. Lidar following
  • 3. Lidar guard
  • 4. Lidar patrol
  • 5. Gmapping mapping
  • 6. Cartographer mapping
  • 7. Navigation2 navigation avoid
  • 8. ROS Robot APP mapping
  • 9. ROS Robot APP navigation
10. Multi-machine course
  • 1. Multi-machine handle control
  • 2. Multi-machine keyboard control
  • 3. Multi-machine navigation
11. Linux basic course
  • 1. Introduction to Linux system
  • 2. Ubuntu file system
  • 3. Ubuntu common commands
  • 4. Ubuntu common editors
  • 5. Ubuntu software operation commands
  • 6. Virtual machine installation
  • 7. SSH remote control
  • 8. VNC remote control
  • 9. Transfer files remotely
  • 10. Driver library and communication
  • 11. Static IP and hotspot mode
  • 12. Bind device ID
  • 13. Capacity expansion and resource allocation
  • 14. Update system software sources
  • 15. Set root user password
  • 16. sudo free password
  • 17. Connect to WiFi network
  • 18. View system version
  • 19. Customized service management
  • 20. Back up system image
12. RPi basic setting course
  • 1. Update and upgrade operating system
  • 2. Introduction to raspi-config tool
  • 3. config.txt file description
  • 4. Network Configuration
  • 5. remote access
  • 6. Transfer files remotely
  • 7. Set display resolution and rotation
  • 8. Set screen to sleep
  • 9. Get real-time temperature of Raspberry Pi
  • 10. Play audio and video
  • 11. Using USB camera
  • 12. Using MIPI camera
13. Docker course
  • 1. Overview and installation
  • 2. Common commands
  • 3. Docker images deeply understand and publish images
  • 4. Docker hardware interaction and data processing
  • 5. Enter the robot's docker container
14. ROS2 basic course
  • 1. Introduction to ROS2
  • 2. ROS2 install Humble
  • 3. ROS2 development environment
  • 4. ROS2 workspace
  • 5. ROS2 function package
  • 6. ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
15. microROS control board development environment
  • 1. Introduction to microROS control board
  • 2. Set up ESP32-IDF development environment
  • 3. ESP32-IDF configuration tool
  • 4. Install ESP32-microros components
  • 5. Install and start microROS agent
  • 6. Flash-tool burning firmware
16. ESP32 basic course
  • 1. Turn on the LED light
  • 2. Button function
  • 3. Drive the buzzer
  • 4. Serial communication
  • 5. Battery voltage detection
  • 6. Drive PWM servo
  • 7. Drive motor
  • 8. Read motor encoder data
  • 9. PID controls car speed
  • 10. Read IMU data
  • 11. Read radar data
  • 12. Flash access data
  • 13. Partition table and memory
  • 14. Bluetooth communication
  • 15. WiFi networking
  • 16. Robot kinematics analysis
  • 17.ROS-WiFi camera module
17. microROS basic course
  • 1. Publish topic
  • 2. Subscribe topic
  • 3. Multi-topic subscribe and publish
  • 4. Subscribe buzzer topics
  • 5. Subscribe PWM servo topics
  • 6. Subscribe speed control topics
  • 7. Release speed topic
  • 8. Release IMU data topic
  • 9. Publish lidar data topics
  • 10. Customized transmission method
Download
  • Mapping_APP(iOS_Android)
  • Source code
  • Hardware information
  • VM image file
  • RPi5 imgae file
  • Instruction Manual
  • 3D Model File
  • ROS2_Basic_VM
Download ZIP
FAQ
  • 1、1.USB camera abnormal termination

Welcome to MicroROS-Pi5 repository

当製品の日本語版マニュアル資料は、こちらからご取得ください。

11. Using USB camera

Using USB camera

Using USB cameraInstall FSWebcamView USB camera devicePhotographTime-lapse photographyUsing Cron (scheduled tasks)Web page preview cameraInstall MotionModify configuration fileStart serviceWeb page preview screen

Take photos and videos on your Raspberry Pi using a standard USB camera.

Install FSWebcam

FSWebcam is a simple and clear webcam application. The software installation command is as follows:

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sudo apt install fswebcam
  • Add user permissions: sudo usermod -a -G video

Example: Add pi user permissions to the group

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sudo usermod -a -G video pi
  • Check if the user has been added to the group correctly

    Command: groups

image-20231218194716544

View USB camera device

Use the lsusb command to view all USB devices recognized by the system;

Use the ls /dev/video* command to list all video devices recognized by the system.

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The next two commands are to detect the information displayed by the camera. You can compare the differences by yourself:
One is image/video collection and the other is metadata collection.

image-20231218194828701

Photograph

  • fswebcam <image_name>

Example: Take a photo and save it as image.jpg (the file saving path defaults to the user directory)

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fswebcam image.jpg
  • fswebcam -r resolution <image_name>

Example: Take an image file with a resolution of 1280x720 and save it as image2.jpg

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fswebcam -r 1280x720 image2.jpg
  • fswebcam -r resolution --no-banner <image_name>

Example: Take an image file with a resolution of 1280x720, no information such as time is displayed on the picture, and save it as image3.jpg

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fswebcam -r 1280x720 --no-banner image3.jpg

Time-lapse photography

Create a new Webcam folder and enter the file

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mkdir Webcam
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cd Webcam

Create a new webcam.sh script file and edit the content

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sudo nano webcam.sh

File content: The file saving path needs to be modified by yourself. My system username directory is yahboom.

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#!/bin/bash

DATE=$(date +"%Y-%m-%d_%H%M")

fswebcam -r 1280x720 --no-banner /home/pi/Webcam/$DATE.jpg

image-20231218195342036

Hold down Ctrl+X, enter Y, and press Enter.

Add executable permissions

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sudo chmod +x webcam.sh

run script

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./webcam.sh

image-20231218195514605

Using Cron (scheduled tasks)

Open the cron table for editing. You will be prompted to select an editor when using it for the first time. It is recommended to use the nano editor.

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crontab -e

image-20231218195606809

Add the following code to the edited document: the first 5 * symbols represent a timer of 1 minute, and 2>&1 is to input the error output to the standard output.

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* * * * * /home/pi/Webcam/webcam.sh 2>&1

image-20231218195932641

After saving the file and exiting, the terminal will output the following content:

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crontab: installing new crontab

For Cron jobs, you can learn about format and syntax by yourself!

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If no pictures are generated after one minute, you can restart the service and check whether the path is correct!
Start cron service: sudo service cron start
Stop the cron service: sudo service cron stop

image-20231218200313058

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If you cannot turn off the camera to automatically shoot using the cron service stop command, it is recommended to use the crontab -e command directly to delete the previously edited content!

Web page preview camera

Use Motion to view the video captured by the USB camera in real time on the web page.

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CSI cameras cannot use this method to preview the camera!

Install Motion

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sudo apt install motion

image-20231218171842216

Modify configuration file

-motion.conf

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sudo nano /etc/motion/motion.conf

Add or modify the following:

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daemon on
stream_localhost off
picture_output off
movie_output off
stream_maxrate 100
framerate 70
width 640
height 480

illustrate:

  1. The above options that are not found in the configuration file can be added directly to the file. For example, the stream_maxrate option needs to be added by yourself, but other options are available.

  2. Frame rate: You can modify it yourself (the above parameters are my best results)

  3. The nano editor can use the Ctrl+W shortcut keys to search for keywords and quickly locate the content that needs to be modified.

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stream_maxrate: real-time streaming frame rate
framerate: frame rate
width: image width
height: image height
The above parameters can be adjusted!
  • motion

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sudo nano /etc/default/motion

Add the following code: motion runs in the background

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start_motion_daemon=yes

image-20231218172322743

Start service

  • Start service

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sudo service motion start
  • Out of service

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sudo service motion stop
  • Restart service

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sudo service motion restart
  • Turn on motion

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sudo motion

Web page preview screen

Enter the start motion service and enable motion commands in the terminal:

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sudo service motion start
sudo motion

image-20231218172352764

  • Preview screen

After turning on motion, enter the car IP: 8081 on the browser on the same LAN to view the real-time image of the camera.

Example: 192.168.2.93:8081

Play audio and video
Using MIPI camera

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