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Add command for multi-platform image build #64

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Add command for multi-platform image build #64

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Add command for multi-platform image build
khssnv Jan 17, 2024
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Update repository dir name
khssnv Jan 17, 2024
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khssnv Jan 17, 2024
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6 changes: 3 additions & 3 deletions README.md
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Expand Up @@ -32,12 +32,12 @@ You can download prebuilt images form [dockerhub](https://hub.docker.com/r/luxon
Downloading prebuilt images is reccomended if you are not planning to considerably change source code.

1. Clone repository `git clone [email protected]:luxonis/rae-ros.git`
2. Build docker image `cd rae && docker buildx build --platform arm64 --build-arg USE_RVIZ=0 --build-arg SIM=0 --build-arg ROS_DISTRO=humble --build-arg CORE_NUM=10 -f Dockerfile --squash -t <docker-image-name>:<tag> --load .
2. Build docker image `cd rae-ros && docker run --privileged --rm tonistiigi/binfmt --install all && docker buildx build --platform arm64 --build-arg USE_RVIZ=0 --build-arg SIM=0 --build-arg ROS_DISTRO=humble --build-arg CORE_NUM=10 -f Dockerfile --squash -t <docker-image-name>:<tag> --load .
`
3. Upload docker image to robot. Connect robot to your PC via USB so you can transfer image quicker. Note that currently space on the robot is limited, so you need to have 7-8 GB of free space in `/data` directory - `docker save <docker-image-name>:<tag> | ssh -C [email protected] docker load`
4. SSH into robot and run docker image - `docker run -it --restart=unless-stopped -v /dev/:/dev/ -v /sys/:/sys/ --privileged --net=host <docker-image-name>:<tag>`
5. Search for docker container name with `docker ps`
6. Attach to the shell - `docker attach <container_name>`, or if you want to create separate session `docker exec -it <container_name> zsh
6. Attach to the shell - `docker attach <container_name>`, or if you want to create separate session `docker exec -it <container_name> zsh`
7. To launch robot hardware - `ros2 launch rae_bringup robot.launch.py`. This launches:
- Motor drivers and differential controller
- Camera driver, currently set up to provide Depth and streams from left & right camera. Note here that you have to calibrate cameras (see steps below). Currently a default calibration file is loaded. It's located in `rae_camera/config/cal.json`. To use one on the device or from other path, change `i_external_calibration_path` parameter in `rae_camera/config/camera.yaml`
Expand Down Expand Up @@ -201,7 +201,7 @@ LCD node is listening to messages on /lcd topic and showing it on the screen in

`img_msg = self.bridge.cv2_to_imgmsg(img_cv, encoding="bgr8")`

### Microcphone and speakers
### Microphone and speakers

Microphone node expects audio messages and example of how to use that data (along with some other peripherals) can be found in rae_bringup/scripts/audio_spectrum.py . For fair amount of use caes, you will need to decode incoming data as shown in example below.

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