Difference between revisions of "BeagleBoardUbuntu"
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** ''#beagle'': Beagle IRC on Freenode, accessible also by [http://beagleboard.org/discuss web interface] ([http://www.beagleboard.org/irclogs/index.php logs]) | ** ''#beagle'': Beagle IRC on Freenode, accessible also by [http://beagleboard.org/discuss web interface] ([http://www.beagleboard.org/irclogs/index.php logs]) | ||
** Kernel Trees | ** Kernel Trees | ||
− | *** [https://github.com/RobertCNelson/ | + | *** [https://github.com/RobertCNelson/armv7-multiplatform/ v3.17.x kernel branch] |
*** [https://github.com/RobertCNelson/linux-dev Development Kernel source code] | *** [https://github.com/RobertCNelson/linux-dev Development Kernel source code] | ||
Line 55: | Line 55: | ||
= Method 1: Download a Complete Pre-Configured Image = | = Method 1: Download a Complete Pre-Configured Image = | ||
+ | == Demo Image == | ||
− | + | * '''Advanced Users only''': BeagleBoard xM: Kernel source, used in these demo images: https://github.com/RobertCNelson/armv7-multiplatform | |
− | |||
− | |||
− | |||
− | * '''Advanced Users only''': | ||
git clone https://github.com/RobertCNelson/armv7-multiplatform.git | git clone https://github.com/RobertCNelson/armv7-multiplatform.git | ||
cd armv7-multiplatform | cd armv7-multiplatform | ||
− | git checkout origin/ | + | git checkout origin/v4.9.x -b tmp |
./build_kernel.sh | ./build_kernel.sh | ||
− | * '''Advanced Users only''': BeagleBone/BeagleBone Black: Kernel | + | * '''Advanced Users only''': BeagleBone/BeagleBone Black: Kernel v4.4.x source, used in these demo images: https://github.com/RobertCNelson/ti-linux-kernel-dev/tree/ti-linux-4.4.y |
− | git clone https://github.com/RobertCNelson/ | + | git clone https://github.com/RobertCNelson/ti-linux-kernel-dev.git |
− | cd | + | cd ti-linux-kernel-dev |
− | git checkout origin/ | + | git checkout origin/ti-linux-4.4.y -b tmp |
./build_kernel.sh | ./build_kernel.sh | ||
− | |||
− | |||
− | === | + | === Ubuntu (16.04.1) === |
+ | |||
+ | Default username/password: | ||
+ | *username: ubuntu | ||
+ | *password: temppwd | ||
+ | |||
Image Updated: | Image Updated: | ||
− | * | + | *2017-01-13 |
− | ** | + | ** BeagleBoard xM: v4.9.3-armv7-x4 kernel |
− | ** BeagleBone | + | ** All BeagleBone Varients: v4.4.40-ti-r80 kernel |
− | ** OMAP5432 uEVM: | + | ** OMAP5432 uEVM: v4.4.40-ti-r80 kernel |
− | * | + | ** BeagleBoard-X15: v4.4.40-ti-r80 kernel |
− | ** | + | *2016-11-10 |
− | ** BeagleBone | + | ** BeagleBoard xM: v4.8.7-armv7-x4 kernel |
− | * | + | ** All BeagleBone Varients: v4.4.30-ti-r66 kernel |
− | ** | + | ** OMAP5432 uEVM: v4.4.30-ti-r66 kernel |
− | ** BeagleBone | + | ** BeagleBoard-X15: v4.4.30-ti-r66 kernel |
+ | *2016-10-06 | ||
+ | ** BeagleBoard xM: v4.8.0-armv7-x2 kernel | ||
+ | ** All BeagleBone Varients: v4.4.23-ti-r51 kernel | ||
+ | ** OMAP5432 uEVM: v4.4.23-ti-r51 kernel | ||
+ | ** BeagleBoard-X15: v4.4.23-ti-r51 kernel | ||
Services Active: | Services Active: | ||
Line 95: | Line 100: | ||
Get prebuilt image: | Get prebuilt image: | ||
− | wget https://rcn-ee. | + | wget https://rcn-ee.com/rootfs/2017-01-13/elinux/ubuntu-16.04.1-console-armhf-2017-01-13.tar.xz |
Verify Image with: | Verify Image with: | ||
− | + | sha256sum ubuntu-16.04.1-console-armhf-2017-01-13.tar.xz | |
− | + | d222003d3813c1b3a1a90731453e735a9ba7afc19de29c3c72bd7eb71a99eeb6 ubuntu-16.04.1-console-armhf-2017-01-13.tar.xz | |
Unpack Image: | Unpack Image: | ||
− | tar xf ubuntu- | + | tar xf ubuntu-16.04.1-console-armhf-2017-01-13.tar.xz |
− | cd ubuntu- | + | cd ubuntu-16.04.1-console-armhf-2017-01-13 |
If you don't know the location of your SD card: | If you don't know the location of your SD card: | ||
Line 134: | Line 139: | ||
board options: | board options: | ||
− | *BeagleBoard Ax/Bx/Cx/Dx | + | *BeagleBoard Ax/Bx/Cx/Dx - omap3-beagle |
− | *BeagleBoard xM | + | *BeagleBoard xM - omap3-beagle-xm |
− | *BeagleBone | + | *All BeagleBone Varients - beaglebone |
− | *OMAP5432 uEVM | + | *OMAP5432 uEVM - omap5-uevm |
+ | *BeagleBoard-X15 - am57xx-beagle-x15 | ||
So for the BeagleBoard xM: | So for the BeagleBoard xM: | ||
Line 143: | Line 149: | ||
Advanced: Build Image: | Advanced: Build Image: | ||
− | |||
− | |||
git clone https://github.com/RobertCNelson/omap-image-builder.git | git clone https://github.com/RobertCNelson/omap-image-builder.git | ||
cd omap-image-builder | cd omap-image-builder | ||
− | git checkout | + | git checkout v2017.01 -b tmp |
Stable: | Stable: | ||
− | ./RootStock-NG.sh -c rcn- | + | ./RootStock-NG.sh -c rcn-ee_console_ubuntu_xenial_armhf |
+ | |||
+ | == Flasher == | ||
+ | |||
+ | === eMMC: All BeagleBone Varients with eMMC === | ||
+ | |||
+ | This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or on windows: https://wiki.ubuntu.com/Win32DiskImager First press and hold the boot select button (next to the microSD card), then apply power. On bootup the board should indicate it has started the flashing procedure visually via a Cylon Sweep pattern shown on the 4 LED's next to the ethernet jack. Progress is reported on both the serial debug and hdmi connectors, once completed all 4 LED's should be full ON. Simply remove power, remove the microSD card and Ubuntu will now boot directly from eMMC. | ||
+ | |||
+ | Script for reference: (this is the script that writes to the eMMC) | ||
+ | https://github.com/RobertCNelson/boot-scripts/blob/master/tools/eMMC/init-eMMC-flasher-v3.sh | ||
− | + | This script will only take about 5-6 Minutes after power on. | |
− | + | Notes: | |
+ | * If only two LED's stay lit and nothing happens, the board has crashed due to lack of power. Retry with a 5Volt DC power supply connected. | ||
+ | * If the 4 LED's blink a constant pattern, the eMMC write has failed. First REMOVE ALL capes, then retry again. | ||
− | + | User: ubuntu | |
+ | pass: temppwd | ||
Image Updated: | Image Updated: | ||
− | * | + | *2017-01-13 |
− | ** | + | ** All BeagleBone Varients with eMMC: v4.4.40-ti-r80 kernel |
− | * | + | *2016-11-10 |
− | ** | + | ** All BeagleBone Varients with eMMC: v4.4.30-ti-r66 kernel |
− | * | + | *2016-10-06 |
− | ** | + | ** All BeagleBone Varients with eMMC: v4.4.23-ti-r51 kernel |
− | |||
Get prebuilt image: | Get prebuilt image: | ||
− | wget https://rcn-ee. | + | wget https://rcn-ee.com/rootfs/2017-01-13/flasher/BBB-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz |
Verify Image with: | Verify Image with: | ||
− | + | sha256sum BBB-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb* | |
− | + | 88f43ea39219da8aa3f3646e637908d011fbff8afbdf1cf115351f36229c9eef BBB-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | |
− | + | Windows/Mac/Linux gui | |
− | + | http://etcher.io | |
− | |||
− | + | Linux: (dd) | |
+ | xzcat BBB-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | sudo dd of=/dev/sdX | ||
− | == | + | === eMMC: BeagleBoard-X15 === |
− | + | This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or on windows: https://wiki.ubuntu.com/Win32DiskImager First press and hold the boot select button (next to the microSD card), then apply power. On bootup the board should indicate it has started the flashing procedure visually via a Cylon Sweep pattern shown on the 4 LED's next to the ethernet jack. Progress is reported on both the serial debug and hdmi connectors, once completed all 4 LED's should be full ON. Simply remove power, remove the microSD card and Ubuntu will now boot directly from eMMC. | |
− | |||
− | This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or | ||
Script for reference: (this is the script that writes to the eMMC) | Script for reference: (this is the script that writes to the eMMC) | ||
− | https://github.com/RobertCNelson/boot-scripts/blob/master/tools/ | + | https://github.com/RobertCNelson/boot-scripts/blob/master/tools/eMMC/init-eMMC-flasher-v3.sh |
− | + | This script will only take about 5-6 Minutes after power on. | |
Notes: | Notes: | ||
* If only two LED's stay lit and nothing happens, the board has crashed due to lack of power. Retry with a 5Volt DC power supply connected. | * If only two LED's stay lit and nothing happens, the board has crashed due to lack of power. Retry with a 5Volt DC power supply connected. | ||
* If the 4 LED's blink a constant pattern, the eMMC write has failed. First REMOVE ALL capes, then retry again. | * If the 4 LED's blink a constant pattern, the eMMC write has failed. First REMOVE ALL capes, then retry again. | ||
− | |||
User: ubuntu | User: ubuntu | ||
Line 202: | Line 214: | ||
Image Updated: | Image Updated: | ||
− | * | + | *2017-01-13 |
− | ** | + | ** BeagleBoard-X15: v4.4.40-ti-r80 kernel |
− | * | + | *2016-11-10 |
− | ** | + | ** BeagleBoard-X15: v4.4.30-ti-r66 kernel |
− | * | + | *2016-10-06 |
− | ** | + | ** BeagleBoard-X15: v4.4.23-ti-r51 kernel |
Get prebuilt image: | Get prebuilt image: | ||
− | wget https://rcn-ee. | + | wget https://rcn-ee.com/rootfs/2017-01-13/flasher/bbx15-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz |
Verify Image with: | Verify Image with: | ||
− | + | sha256sum bbx15-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb* | |
− | + | f1ff6ca3fb329dd060079f3814cfc3fa9d12f6a3cf8cc3937b4dc2318d1b60d2 bbx15-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | |
− | + | Windows/Mac/Linux gui | |
− | http:// | + | http://etcher.io |
− | Linux: | + | Linux: (dd) |
− | + | xzcat bbx15-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | sudo dd of=/dev/sdX | |
− | |||
== raw microSD img == | == raw microSD img == | ||
Line 227: | Line 238: | ||
=== BeagleBoard xM === | === BeagleBoard xM === | ||
− | This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or | + | This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or on windows: https://wiki.ubuntu.com/Win32DiskImager |
User: ubuntu | User: ubuntu | ||
Line 239: | Line 250: | ||
Image Updated: | Image Updated: | ||
− | * | + | *2017-01-13 |
− | ** | + | ** BeagleBoard xM: v4.9.3-armv7-x4 kernel |
− | * | + | *2016-11-10 |
− | ** | + | ** BeagleBoard xM: v4.8.7-armv7-x4 kernel |
− | * | + | *2016-10-06 |
− | ** | + | ** BeagleBoard xM: v4.8.0-armv7-x2 kernel |
Get prebuilt image: | Get prebuilt image: | ||
− | wget https://rcn-ee. | + | wget https://rcn-ee.com/rootfs/2017-01-13/microsd/bbxm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz |
Verify Image with: | Verify Image with: | ||
− | + | sha256sum bbxm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb* | |
− | + | f00018b2ab5bafbd56b8e40fcd9440956b841e4ef12cc0a5df5897a54317d925 bbxm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | |
− | Linux | + | Windows/Mac/Linux gui |
− | + | http://etcher.io | |
− | |||
− | = | + | Linux: (dd) |
+ | xzcat bbxm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | sudo dd of=/dev/sdX | ||
− | This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or | + | === All BeagleBone Varients === |
+ | |||
+ | This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or on windows: https://wiki.ubuntu.com/Win32DiskImager | ||
User: ubuntu | User: ubuntu | ||
Line 271: | Line 284: | ||
Image Updated: | Image Updated: | ||
− | * | + | *2017-01-13 |
− | ** BeagleBone | + | ** All BeagleBone Varients: v4.4.40-ti-r80 kernel |
− | * | + | *2016-11-10 |
− | ** BeagleBone | + | ** All BeagleBone Varients: v4.4.30-ti-r66 kernel |
− | * | + | *2016-10-06 |
− | ** BeagleBone | + | ** All BeagleBone Varients: v4.4.23-ti-r51 kernel |
Get prebuilt image: | Get prebuilt image: | ||
− | wget https://rcn-ee. | + | wget https://rcn-ee.com/rootfs/2017-01-13/microsd/bone-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz |
Verify Image with: | Verify Image with: | ||
− | + | sha256sum bone-ubuntu-16.04.1-console-armhf-2017-01-13-2gb* | |
− | + | d196f5c99998b212d527785a6b2cb4689daa2d0b28d207bc64faa54af9300ef7 bone-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | |
− | Linux: | + | Windows/Mac/Linux gui |
− | + | http://etcher.io | |
− | + | ||
+ | Linux: (dd) | ||
+ | xzcat bone-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | sudo dd of=/dev/sdX | ||
=== OMAP5432 uEVM === | === OMAP5432 uEVM === | ||
− | This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or | + | This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or on windows: https://wiki.ubuntu.com/Win32DiskImager |
User: ubuntu | User: ubuntu | ||
Line 303: | Line 318: | ||
Image Updated: | Image Updated: | ||
− | * | + | *2017-01-13 |
− | ** OMAP5432 uEVM: | + | ** OMAP5432 uEVM: v4.4.40-ti-r80 kernel |
+ | *2016-11-10 | ||
+ | ** OMAP5432 uEVM: v4.4.30-ti-r66 kernel | ||
+ | *2016-10-06 | ||
+ | ** OMAP5432 uEVM: v4.4.23-ti-r51 kernel | ||
Get prebuilt image: | Get prebuilt image: | ||
− | wget https://rcn-ee. | + | wget https://rcn-ee.com/rootfs/2017-01-13/microsd/omap5-uevm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz |
Verify Image with: | Verify Image with: | ||
− | + | sha256sum omap5-uevm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb* | |
− | + | 684acb885df9f36d08912b18dfa07697a7994ffff5053f5bbe3e0781f0812e15 omap5-uevm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | |
+ | |||
+ | Windows/Mac/Linux gui | ||
+ | http://etcher.io | ||
+ | |||
+ | Linux: (dd) | ||
+ | xzcat omap5-uevm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | sudo dd of=/dev/sdX | ||
+ | |||
+ | === BeagleBoard-X15 === | ||
+ | |||
+ | This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or on windows: https://wiki.ubuntu.com/Win32DiskImager | ||
− | + | User: ubuntu | |
− | + | pass: temppwd | |
− | + | ||
+ | Auto partition resize: | ||
+ | cd /opt/scripts/tools | ||
+ | git pull | ||
+ | ./grow_partition.sh | ||
+ | sudo reboot | ||
+ | |||
+ | Image Updated: | ||
+ | *2017-01-13 | ||
+ | ** BeagleBoard-X15: v4.4.40-ti-r80 kernel | ||
+ | *2016-11-10 | ||
+ | ** BeagleBoard-X15: v4.4.30-ti-r66 kernel | ||
+ | *2016-10-06 | ||
+ | ** BeagleBoard-X15: v4.4.23-ti-r51 kernel | ||
+ | |||
+ | Get prebuilt image: | ||
+ | wget https://rcn-ee.com/rootfs/2017-01-13/microsd/bbx15-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | ||
+ | |||
+ | Verify Image with: | ||
+ | sha256sum bbx15-ubuntu-16.04.1-console-armhf-2017-01-13-2gb* | ||
+ | 92621c0930a74d8e8ba1298bd7c33add1abaafc30af88f55ee18216360980cf3 bbx15-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | ||
+ | |||
+ | Windows/Mac/Linux gui | ||
+ | http://etcher.io | ||
+ | |||
+ | Linux: (dd) | ||
+ | xzcat bbx15-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | sudo dd of=/dev/sdX | ||
= Method 2: Use the NetInstall method= | = Method 2: Use the NetInstall method= | ||
Line 383: | Line 438: | ||
== BeagleBone == | == BeagleBone == | ||
http://eewiki.net/display/linuxonarm/BeagleBone | http://eewiki.net/display/linuxonarm/BeagleBone | ||
+ | |||
+ | == BeagleBone Black == | ||
+ | http://eewiki.net/display/linuxonarm/BeagleBone+Black | ||
== Panda/Panda ES == | == Panda/Panda ES == | ||
Line 391: | Line 449: | ||
==Install Latest Kernel Image== | ==Install Latest Kernel Image== | ||
− | + | General apt syntax for searching and installing a specific kernel: | |
− | cd /opt/scripts/tools | + | sudo apt-get update |
+ | sudo apt-cache search linux-image | grep <branch> | ||
+ | sudo apt-get install linux-image-<specific version> | ||
+ | sudo reboot | ||
+ | |||
+ | Latest kernel script | ||
+ | cd /opt/scripts/tools/ | ||
git pull | git pull | ||
+ | sudo ./update_kernel.sh <OPTIONS> | ||
− | + | == 3.8.x == | |
− | ./ | + | This is the first beagleboard.org long term kernel tree with capemanager support, it's been the default install for Debian Wheezy |
+ | beagleboard.org patchset: https://github.com/beagleboard/linux/tree/3.8 | ||
+ | |||
+ | 3.8.x BeagleBone/BeagleBone Black FULL Cape Support | ||
+ | --bone-channel --stable | ||
− | + | 3.8.x BeagleBone/BeagleBone Black FULL Cape Support + Xenomai | |
− | ./ | + | --bone-xenomai-channel --stable |
− | + | == 4.4.x-ti == | |
− | ./ | + | This is slated to replace the v3.8.x tree in Debian Jessie, cape manager support is enabled. |
+ | beagleboard.org patchset: https://github.com/beagleboard/linux/tree/4.4 | ||
− | + | 4.4.x-ti BeagleBone/BeagleBone Black/BeagleBoard-X15 | |
+ | --ti-channel --lts-4_4 | ||
− | + | 4.4.x-ti BeagleBone/BeagleBone Black/BeagleBoard-X15 + RT | |
+ | --ti-rt-channel --lts-4_4 | ||
− | + | 4.4.x-ti BeagleBone/BeagleBone Black/BeagleBoard-X15 + RT | |
+ | -ti-xenomai-channel --lts-4_4 | ||
− | + | == Mainline (lts) == | |
− | + | 4.4.x BeagleBone/BeagleBone Black + SGX | |
− | + | --bone-kernel --lts-4_4 | |
− | + | 4.4.x BeagleBone/BeagleBone Black + RT + SGX | |
− | + | --bone-rt-kernel --lts-4_4 | |
− | + | Reboot with your new Kernel Image. | |
− | + | == Xorg Drivers == | |
− | |||
− | + | Script: | |
− | + | cd /opt/scripts/tools/ | |
+ | git pull | ||
− | + | BeagleBoard/PandaBoard: | |
− | + | cd /opt/scripts/tools/graphics/ | |
+ | ./ti-omapdrm.sh | ||
− | + | BeagleBone/BeagleBone Black: | |
− | + | cd /opt/scripts/tools/graphics/ | |
− | + | ./ti-tilcdc.sh | |
− | |||
− | |||
− | |||
− | |||
− | + | == SGX Drivers == | |
− | |||
− | + | === SGX BeagleBone/BeagleBone Black === | |
− | + | Note, these are FBDEV only, no xorg/x11/etc... | |
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | + | Install the "4.1.x" lts/bone kernel: | |
+ | http://elinux.org/BeagleBoardUbuntu#Mainline_.28lts.29 | ||
− | + | Build SGX userspace for 4.1.x (must be done on an x86, due to the TI 5.01.01.02 blob extractor) | |
+ | git clone https://github.com/RobertCNelson/bb-kernel.git | ||
+ | cd bb-kernel/ | ||
+ | git checkout origin/am33x-v4.1 -b tmp-sgx | ||
+ | ./sgx_create_package.sh | ||
− | + | Copy ./deploy/GFX_5.01.01.02.tar.gz to BeagleBone/BeagleBone Black and install | |
+ | sudo tar xfv GFX_5.01.01.02.tar.gz -C / | ||
+ | cd /opt/gfxinstall/ | ||
+ | sudo ./sgx-install.sh | ||
+ | sudo reboot | ||
− | + | Verify omaplfb & pvrsrvkm loaded | |
+ | debian@arm:~$ lsmod | grep omaplfb | ||
+ | omaplfb 12065 0 | ||
+ | pvrsrvkm 178782 1 omaplfb | ||
== Xorg Drivers == | == Xorg Drivers == | ||
Line 472: | Line 546: | ||
cd /opt/scripts/tools/graphics/ | cd /opt/scripts/tools/graphics/ | ||
./ti-tilcdc.sh | ./ti-tilcdc.sh | ||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
= Swapfile = | = Swapfile = | ||
Line 579: | Line 640: | ||
=== ROS === | === ROS === | ||
− | + | ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. ROS is licensed under an open source, BSD license. | |
− | + | There are currently builds of ROS for Ubuntu Trusty armhf. These builds include most but not all packages, and save a considerable amount of time compared to doing a full source-based installation: | |
− | http:// | + | http://wiki.ros.org/indigo/Installation/UbuntuARM |
− | + | Alternatively ROS can be installed from source and is generally easy to do so (although slow). | |
For more information about ROS, see www.ros.org. | For more information about ROS, see www.ros.org. |
Revision as of 13:57, 13 January 2017
(For BeagleBoardAngstrom, click here.) (Should Beagleboard:Ubuntu On BeagleBone Black be merged into this page?)
This page is about running a Linux distribution (ARM EABI) Ubuntu on the BeagleBoard. BeagleBoard will boot the (ARM EABI) Ubuntu distribution from the SD card. Since much of this page is generic, it has also been extended to help support devices such as the PandaBoard and BeagleBone.
- For the best experience, make sure you have an LCD/HDMI monitor attached to the BeagleBoard's HDMI port, 2 GB/4 GB/8 GB SD card, and a known good USB 2.0 hub with mouse and keyboard.
Contents
Help
If you need any help:
- Kernel related help:
- Email Beagleboard user group *Recommended method
- #beagle: Beagle IRC on Freenode, accessible also by web interface (logs)
- Kernel Trees
- Ubuntu related help:
- #ubuntu-arm: Ubuntu's ARM IRC on Freenode (logs -> year -> month -> day -> #ubuntu-arm.html)
- When requesting help, please provide some debugging information:
- U-Boot Version installed on board
- Kernel Version: uname -a
- pastebin dmesg
- Copy from serial port or use "dmesg | pastebinit" (sudo apt-get install pastebinit)
Required Beagle Software
Mainline U-Boot:
- All older BeagleBoard (classic) Ax, Bx, Cx and Dx boards are required to upgrade to at least these U-Boot versions
- XM Boards have no NAND, so MLO/u-boot.img is always required on the first partition
- Directions: Upgrade X-loader and U-Boot
Omap Serial Changes
boot.scr/boot.cmd changes:
With 2.6.35:
console=ttyS2,115200n8
With 2.6.36/37+:
console=ttyO2,115200n8
Serial console login: /etc/init/ttyO2.conf
start on stopped rc RUNLEVEL=[2345] stop on runlevel [!2345] respawn exec /sbin/getty 115200 ttyO2
Method 1: Download a Complete Pre-Configured Image
Demo Image
- Advanced Users only: BeagleBoard xM: Kernel source, used in these demo images: https://github.com/RobertCNelson/armv7-multiplatform
git clone https://github.com/RobertCNelson/armv7-multiplatform.git cd armv7-multiplatform git checkout origin/v4.9.x -b tmp ./build_kernel.sh
- Advanced Users only: BeagleBone/BeagleBone Black: Kernel v4.4.x source, used in these demo images: https://github.com/RobertCNelson/ti-linux-kernel-dev/tree/ti-linux-4.4.y
git clone https://github.com/RobertCNelson/ti-linux-kernel-dev.git cd ti-linux-kernel-dev git checkout origin/ti-linux-4.4.y -b tmp ./build_kernel.sh
Ubuntu (16.04.1)
Default username/password:
- username: ubuntu
- password: temppwd
Image Updated:
- 2017-01-13
- BeagleBoard xM: v4.9.3-armv7-x4 kernel
- All BeagleBone Varients: v4.4.40-ti-r80 kernel
- OMAP5432 uEVM: v4.4.40-ti-r80 kernel
- BeagleBoard-X15: v4.4.40-ti-r80 kernel
- 2016-11-10
- BeagleBoard xM: v4.8.7-armv7-x4 kernel
- All BeagleBone Varients: v4.4.30-ti-r66 kernel
- OMAP5432 uEVM: v4.4.30-ti-r66 kernel
- BeagleBoard-X15: v4.4.30-ti-r66 kernel
- 2016-10-06
- BeagleBoard xM: v4.8.0-armv7-x2 kernel
- All BeagleBone Varients: v4.4.23-ti-r51 kernel
- OMAP5432 uEVM: v4.4.23-ti-r51 kernel
- BeagleBoard-X15: v4.4.23-ti-r51 kernel
Services Active:
Note: Depending on your internal network these may work out of the box Apache, Port 80: http://arm.local/ (Bone: via usb) http://192.168.7.2 SSH, Port 22: ssh ubuntu@arm.local (Bone: via usb) ubuntu@192.168.7.2 Getty, Serial Port
Default user: ubuntu pass: temppwd
Get prebuilt image:
wget https://rcn-ee.com/rootfs/2017-01-13/elinux/ubuntu-16.04.1-console-armhf-2017-01-13.tar.xz
Verify Image with:
sha256sum ubuntu-16.04.1-console-armhf-2017-01-13.tar.xz d222003d3813c1b3a1a90731453e735a9ba7afc19de29c3c72bd7eb71a99eeb6 ubuntu-16.04.1-console-armhf-2017-01-13.tar.xz
Unpack Image:
tar xf ubuntu-16.04.1-console-armhf-2017-01-13.tar.xz cd ubuntu-16.04.1-console-armhf-2017-01-13
If you don't know the location of your SD card:
sudo ./setup_sdcard.sh --probe-mmc
You should see something like:
Are you sure? I don't see [/dev/idontknow], here is what I do see... fdisk -l: Disk /dev/sda: 500.1 GB, 500107862016 bytes <- x86 Root Drive Disk /dev/sdd: 3957 MB, 3957325824 bytes <- MMC/SD card lsblk: NAME MAJ:MIN RM SIZE RO TYPE MOUNTPOINT sda 8:0 0 465.8G 0 disk ├─sda1 8:1 0 446.9G 0 part / <- x86 Root Partition ├─sda2 8:2 0 1K 0 part └─sda5 8:5 0 18.9G 0 part [SWAP] sdd 8:48 1 3.7G 0 disk ├─sdd1 8:49 1 64M 0 part └─sdd2 8:50 1 3.6G 0 part
- In this example, we can see via mount, /dev/sda1 is the x86 rootfs, therefore /dev/sdd is the other drive in the system, which is the MMC/SD card that was inserted and should be used by ./setup_sdcard.sh...
Install Image:
Quick install script for [board]
sudo ./setup_sdcard.sh --mmc /dev/sdX --dtb board
board options:
- BeagleBoard Ax/Bx/Cx/Dx - omap3-beagle
- BeagleBoard xM - omap3-beagle-xm
- All BeagleBone Varients - beaglebone
- OMAP5432 uEVM - omap5-uevm
- BeagleBoard-X15 - am57xx-beagle-x15
So for the BeagleBoard xM:
sudo ./setup_sdcard.sh --mmc /dev/sdX --dtb omap3-beagle-xm
Advanced: Build Image:
git clone https://github.com/RobertCNelson/omap-image-builder.git cd omap-image-builder git checkout v2017.01 -b tmp
Stable:
./RootStock-NG.sh -c rcn-ee_console_ubuntu_xenial_armhf
Flasher
eMMC: All BeagleBone Varients with eMMC
This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or on windows: https://wiki.ubuntu.com/Win32DiskImager First press and hold the boot select button (next to the microSD card), then apply power. On bootup the board should indicate it has started the flashing procedure visually via a Cylon Sweep pattern shown on the 4 LED's next to the ethernet jack. Progress is reported on both the serial debug and hdmi connectors, once completed all 4 LED's should be full ON. Simply remove power, remove the microSD card and Ubuntu will now boot directly from eMMC.
Script for reference: (this is the script that writes to the eMMC)
https://github.com/RobertCNelson/boot-scripts/blob/master/tools/eMMC/init-eMMC-flasher-v3.sh
This script will only take about 5-6 Minutes after power on.
Notes:
- If only two LED's stay lit and nothing happens, the board has crashed due to lack of power. Retry with a 5Volt DC power supply connected.
- If the 4 LED's blink a constant pattern, the eMMC write has failed. First REMOVE ALL capes, then retry again.
User: ubuntu pass: temppwd
Image Updated:
- 2017-01-13
- All BeagleBone Varients with eMMC: v4.4.40-ti-r80 kernel
- 2016-11-10
- All BeagleBone Varients with eMMC: v4.4.30-ti-r66 kernel
- 2016-10-06
- All BeagleBone Varients with eMMC: v4.4.23-ti-r51 kernel
Get prebuilt image:
wget https://rcn-ee.com/rootfs/2017-01-13/flasher/BBB-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz
Verify Image with:
sha256sum BBB-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb* 88f43ea39219da8aa3f3646e637908d011fbff8afbdf1cf115351f36229c9eef BBB-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz
Windows/Mac/Linux gui
http://etcher.io
Linux: (dd)
xzcat BBB-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | sudo dd of=/dev/sdX
eMMC: BeagleBoard-X15
This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or on windows: https://wiki.ubuntu.com/Win32DiskImager First press and hold the boot select button (next to the microSD card), then apply power. On bootup the board should indicate it has started the flashing procedure visually via a Cylon Sweep pattern shown on the 4 LED's next to the ethernet jack. Progress is reported on both the serial debug and hdmi connectors, once completed all 4 LED's should be full ON. Simply remove power, remove the microSD card and Ubuntu will now boot directly from eMMC.
Script for reference: (this is the script that writes to the eMMC)
https://github.com/RobertCNelson/boot-scripts/blob/master/tools/eMMC/init-eMMC-flasher-v3.sh
This script will only take about 5-6 Minutes after power on.
Notes:
- If only two LED's stay lit and nothing happens, the board has crashed due to lack of power. Retry with a 5Volt DC power supply connected.
- If the 4 LED's blink a constant pattern, the eMMC write has failed. First REMOVE ALL capes, then retry again.
User: ubuntu pass: temppwd
Image Updated:
- 2017-01-13
- BeagleBoard-X15: v4.4.40-ti-r80 kernel
- 2016-11-10
- BeagleBoard-X15: v4.4.30-ti-r66 kernel
- 2016-10-06
- BeagleBoard-X15: v4.4.23-ti-r51 kernel
Get prebuilt image:
wget https://rcn-ee.com/rootfs/2017-01-13/flasher/bbx15-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz
Verify Image with:
sha256sum bbx15-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb* f1ff6ca3fb329dd060079f3814cfc3fa9d12f6a3cf8cc3937b4dc2318d1b60d2 bbx15-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz
Windows/Mac/Linux gui
http://etcher.io
Linux: (dd)
xzcat bbx15-eMMC-flasher-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | sudo dd of=/dev/sdX
raw microSD img
BeagleBoard xM
This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or on windows: https://wiki.ubuntu.com/Win32DiskImager
User: ubuntu pass: temppwd
Auto partition resize:
cd /opt/scripts/tools git pull ./grow_partition.sh sudo reboot
Image Updated:
- 2017-01-13
- BeagleBoard xM: v4.9.3-armv7-x4 kernel
- 2016-11-10
- BeagleBoard xM: v4.8.7-armv7-x4 kernel
- 2016-10-06
- BeagleBoard xM: v4.8.0-armv7-x2 kernel
Get prebuilt image:
wget https://rcn-ee.com/rootfs/2017-01-13/microsd/bbxm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz
Verify Image with:
sha256sum bbxm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb* f00018b2ab5bafbd56b8e40fcd9440956b841e4ef12cc0a5df5897a54317d925 bbxm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz
Windows/Mac/Linux gui
http://etcher.io
Linux: (dd)
xzcat bbxm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | sudo dd of=/dev/sdX
All BeagleBone Varients
This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or on windows: https://wiki.ubuntu.com/Win32DiskImager
User: ubuntu pass: temppwd
Auto partition resize:
cd /opt/scripts/tools git pull ./grow_partition.sh sudo reboot
Image Updated:
- 2017-01-13
- All BeagleBone Varients: v4.4.40-ti-r80 kernel
- 2016-11-10
- All BeagleBone Varients: v4.4.30-ti-r66 kernel
- 2016-10-06
- All BeagleBone Varients: v4.4.23-ti-r51 kernel
Get prebuilt image:
wget https://rcn-ee.com/rootfs/2017-01-13/microsd/bone-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz
Verify Image with:
sha256sum bone-ubuntu-16.04.1-console-armhf-2017-01-13-2gb* d196f5c99998b212d527785a6b2cb4689daa2d0b28d207bc64faa54af9300ef7 bone-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz
Windows/Mac/Linux gui
http://etcher.io
Linux: (dd)
xzcat bone-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | sudo dd of=/dev/sdX
OMAP5432 uEVM
This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or on windows: https://wiki.ubuntu.com/Win32DiskImager
User: ubuntu pass: temppwd
Auto partition resize:
cd /opt/scripts/tools git pull ./grow_partition.sh sudo reboot
Image Updated:
- 2017-01-13
- OMAP5432 uEVM: v4.4.40-ti-r80 kernel
- 2016-11-10
- OMAP5432 uEVM: v4.4.30-ti-r66 kernel
- 2016-10-06
- OMAP5432 uEVM: v4.4.23-ti-r51 kernel
Get prebuilt image:
wget https://rcn-ee.com/rootfs/2017-01-13/microsd/omap5-uevm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz
Verify Image with:
sha256sum omap5-uevm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb* 684acb885df9f36d08912b18dfa07697a7994ffff5053f5bbe3e0781f0812e15 omap5-uevm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz
Windows/Mac/Linux gui
http://etcher.io
Linux: (dd)
xzcat omap5-uevm-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | sudo dd of=/dev/sdX
BeagleBoard-X15
This image can be written to a 2GB (or larger) microSD card, via 'dd' on linux or on windows: https://wiki.ubuntu.com/Win32DiskImager
User: ubuntu pass: temppwd
Auto partition resize:
cd /opt/scripts/tools git pull ./grow_partition.sh sudo reboot
Image Updated:
- 2017-01-13
- BeagleBoard-X15: v4.4.40-ti-r80 kernel
- 2016-11-10
- BeagleBoard-X15: v4.4.30-ti-r66 kernel
- 2016-10-06
- BeagleBoard-X15: v4.4.23-ti-r51 kernel
Get prebuilt image:
wget https://rcn-ee.com/rootfs/2017-01-13/microsd/bbx15-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz
Verify Image with:
sha256sum bbx15-ubuntu-16.04.1-console-armhf-2017-01-13-2gb* 92621c0930a74d8e8ba1298bd7c33add1abaafc30af88f55ee18216360980cf3 bbx15-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz
Windows/Mac/Linux gui
http://etcher.io
Linux: (dd)
xzcat bbx15-ubuntu-16.04.1-console-armhf-2017-01-13-2gb.img.xz | sudo dd of=/dev/sdX
Method 2: Use the NetInstall method
You will need a 1GB/2GB/4GB/8GB SD card or greater.
Standard system : ~700 MB
Report Bugs/Issues to: https://github.com/RobertCNelson/netinstall/issues (anywhere else will be ignored..)
Download the netinstall script:
git clone https://github.com/RobertCNelson/netinstall.git cd netinstall
Currently supported Ubuntu distributions:
--distro oneiric (11.10) --distro precise-armhf (12.04) --distro quantal (12.10) --distro raring (13.04) --distro saucy (13.10)
Device: <board> selection:
*BeagleBoard Ax/Bx/Cx - omap3-beagle *BeagleBoard xMA/B/C - omap3-beagle-xm *BeagleBone Ax - am335x-bone-serial *BeagleBone (DVI cape) - am335x-bone-video *BeagleBone Black - am335x-boneblack *PandaBoard Ax - omap4-panda *PandaBoard A4+ - omap4-panda-a4 *PandaBoard ES - omap4-panda-es
Installation script for new <board> selection: (slowly migrating all devices to this method)
sudo ./mk_mmc.sh --mmc /dev/sdX --dtb <board> --distro <distro>
So for the xM: with quantal:
sudo ./mk_mmc.sh --mmc /dev/sdX --dtb omap3-beagle-xm --distro quantal
- Other Options:
- --firmware : installs firmware
- --serial-mode : debian-installer uses Serial Port
Place SD card into BeagleBoard and boot:
Configure the network:
usb0: USB net <- (usually the OTG port) eth0: USB net <- (usually the smsc95xx adapter on the BeagleBoard and PandaBoard) wlan0: Wifi <- Your USDB-Wi-Fi device..
See my notes for my testing procedure: https://github.com/RobertCNelson/netinstall/blob/master/test.Ubuntu
Troubleshooting: If booting fails..
- Hold the user button down to force booting from MMC
- Upgrade X-loader and U-boot Upgrade X-loader and U-Boot
- Clear U-boot's Environment Variables in NAND:
nand erase 260000 20000
NetInstall assumptions:
Assume asll <default>'s... Thanks you preseed.conf!!!
Method 3: Manual Install (no automatic scripts)
Note, this section used to have a lot of details, but maintenance of the two wiki's became a pain, so for now on we will just link to my other pages:
Beagle/Beagle xM
http://eewiki.net/display/linuxonarm/BeagleBoard
BeagleBone
http://eewiki.net/display/linuxonarm/BeagleBone
BeagleBone Black
http://eewiki.net/display/linuxonarm/BeagleBone+Black
Panda/Panda ES
http://eewiki.net/display/linuxonarm/PandaBoard
Advanced
Install Latest Kernel Image
General apt syntax for searching and installing a specific kernel:
sudo apt-get update sudo apt-cache search linux-image | grep <branch> sudo apt-get install linux-image-<specific version> sudo reboot
Latest kernel script
cd /opt/scripts/tools/ git pull sudo ./update_kernel.sh <OPTIONS>
3.8.x
This is the first beagleboard.org long term kernel tree with capemanager support, it's been the default install for Debian Wheezy
beagleboard.org patchset: https://github.com/beagleboard/linux/tree/3.8
3.8.x BeagleBone/BeagleBone Black FULL Cape Support --bone-channel --stable
3.8.x BeagleBone/BeagleBone Black FULL Cape Support + Xenomai --bone-xenomai-channel --stable
4.4.x-ti
This is slated to replace the v3.8.x tree in Debian Jessie, cape manager support is enabled.
beagleboard.org patchset: https://github.com/beagleboard/linux/tree/4.4
4.4.x-ti BeagleBone/BeagleBone Black/BeagleBoard-X15 --ti-channel --lts-4_4
4.4.x-ti BeagleBone/BeagleBone Black/BeagleBoard-X15 + RT --ti-rt-channel --lts-4_4
4.4.x-ti BeagleBone/BeagleBone Black/BeagleBoard-X15 + RT -ti-xenomai-channel --lts-4_4
Mainline (lts)
4.4.x BeagleBone/BeagleBone Black + SGX --bone-kernel --lts-4_4
4.4.x BeagleBone/BeagleBone Black + RT + SGX --bone-rt-kernel --lts-4_4
Reboot with your new Kernel Image.
Xorg Drivers
Script:
cd /opt/scripts/tools/ git pull
BeagleBoard/PandaBoard:
cd /opt/scripts/tools/graphics/ ./ti-omapdrm.sh
BeagleBone/BeagleBone Black:
cd /opt/scripts/tools/graphics/ ./ti-tilcdc.sh
SGX Drivers
SGX BeagleBone/BeagleBone Black
Note, these are FBDEV only, no xorg/x11/etc...
Install the "4.1.x" lts/bone kernel: http://elinux.org/BeagleBoardUbuntu#Mainline_.28lts.29
Build SGX userspace for 4.1.x (must be done on an x86, due to the TI 5.01.01.02 blob extractor)
git clone https://github.com/RobertCNelson/bb-kernel.git cd bb-kernel/ git checkout origin/am33x-v4.1 -b tmp-sgx ./sgx_create_package.sh
Copy ./deploy/GFX_5.01.01.02.tar.gz to BeagleBone/BeagleBone Black and install
sudo tar xfv GFX_5.01.01.02.tar.gz -C / cd /opt/gfxinstall/ sudo ./sgx-install.sh sudo reboot
Verify omaplfb & pvrsrvkm loaded
debian@arm:~$ lsmod | grep omaplfb omaplfb 12065 0 pvrsrvkm 178782 1 omaplfb
Xorg Drivers
Script:
cd /opt/scripts/tools/ git pull
BeagleBoard/PandaBoard:
cd /opt/scripts/tools/graphics/ ./ti-omapdrm.sh
BeagleBone/BeagleBone Black:
cd /opt/scripts/tools/graphics/ ./ti-tilcdc.sh
Swapfile
Using a File for Swap Instead of a Partition
On the Beagleboard you should expect to require a swap file given the limitation of how little RAM is available (between 256 MB and 512 MB). Some system programs like apt-get will only run properly when some swap space is present (due to 256 MB not being enough RAM).
Some images (such as those from Linaro.org) do not come with a swap partition or any swap space allocated.
Under Linux, swap space can be either a dedicated partition or a swap file. Both can be mounted as swap which the OS can access.
Creating a Swapfile
The following commands will create a 1 GB file, limit access only to root, format it as swap and then make it available to the OS:
sudo mkdir -p /var/cache/swap/ sudo dd if=/dev/zero of=/var/cache/swap/swapfile bs=1M count=1024 sudo chmod 0600 /var/cache/swap/swapfile sudo mkswap /var/cache/swap/swapfile sudo swapon /var/cache/swap/swapfile
To tell the OS to load this swapfile on each start up, edit the /etc/fstab file to include the following additional line:
/var/cache/swap/swapfile none swap sw 0 0
To verify that the swapfile is accessilble as swap to the OS, run "top" or "htop" at a console.
Ubuntu Software
Wi-Fi Networking (command line)
/etc/network/interfaces
It is relatively easy to configure a Wi-Fi card from the command line.
You will need to edit the /etc/network/interfaces file. There are several guides available via Google.
This is a particularly useful guide https://ubuntuforums.org/showthread.php?t=202834
A sample /etc/network/interfaces file for a WPA2 encrypted access point is:
auto lo iface lo inet loopback auto wlan0 iface wlan0 inet dhcp wpa-driver wext wpa-ssid <NAME OF AP> wpa-ap-scan 1 wpa-proto RSN wpa-pairwise CCMP wpa-group CCMP wpa-key-mgmt WPA-PSK wpa-psk <INSERT KEY XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX>
Your Wi-Fi card will automatically load these settings upon startup and initialize wireless network access.
Lightweight window managers
If you intend to use Ubuntu on the BeagleBoard you can install JWM or IceWM to improve performance.
JWM in particular uses little RAM. On a BeagleBoard with 256 MB, using JWM will leave about 60 MB free in which to run applications.
Web Apps
Midori
Given that the BeagleBoard has fewer resources than a desktop a lightweight browser is more responsive. Midori is a lightweight browser that still supports flash, etc. It is available from the standard repositories: http://en.wikipedia.org/wiki/Midori_%28web_browser%29
Surveillance
Motion
If you have a video source (webcam, IP cam, etc.) which appears as /dev/video0, etc. then you can use the Linux surveillance software "motion" to monitor the video stream and record periods of activity.
Motion is also available from the standard repositories: http://www.debian-administration.org/article/An_Introduction_to_Video_Surveillance_with_%27Motion%27 Using a 960x720 resolution webcam with a 15 fps rate under the UVC driver the Rev C BeagleBoard under Xubuntu reports ~60% CPU utilisation.
To make the BeagleBoard automatically start recording on boot, do the following:
- Auto Login - run "gdmsetup" from a terminal and select a user to automatically login
- Sessions - make sure you don't save any previous X Windows sessions so that it doesn't prompt you for which one you want
- motion.conf - edit /etc/motion/motion.conf to use the settings you want (that is, video output directory, record only video, record in MPEG-4, set frame rate, etc). Do this with "sudo medit /etc/motion/motion.conf" at a prompt.
- Boot script - create a new script in /etc/rc2.d called "S65motion_client" and set permissions appropriately ("sudo chmod 777 /etc/rc2.d/S65motion_client"). Then edit the file so it contains the following lines:
#! /bin/sh /usr/bin/motion -c /etc/motion/motion.conf
This will now launch the motion client as root when you boot up.
Also note that unless your BeagleBoard can remember the time (battery backed up clock installed), the timestamps will not be correct until you update the time. If your BeagleBoard has an Internet connection this can be achieved using the ntpdate application.
Robotics
ROS
ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. ROS is licensed under an open source, BSD license.
There are currently builds of ROS for Ubuntu Trusty armhf. These builds include most but not all packages, and save a considerable amount of time compared to doing a full source-based installation:
http://wiki.ros.org/indigo/Installation/UbuntuARM
Alternatively ROS can be installed from source and is generally easy to do so (although slow).
For more information about ROS, see www.ros.org.