mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 09:31:20 -04:00
94 lines
4.1 KiB
Markdown
94 lines
4.1 KiB
Markdown
# Pi Deployment Guide
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## Tooling
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Fedora 43:
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```bash
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sudo dnf install golang libgpiod
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```
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Cross-compiling roverd for Pi Zero 2 W (ARMv7):
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```bash
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cd pi/roverd
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mkdir -p ../../dist
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make pi-build
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```
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The binary is placed in `dist/roverd` (relative to the repo root).
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## Automated installation (recommended)
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Once the binary (and repo) are on the Pi, run the helper script from the repo root:
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```bash
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cd ~/MultiRoombaRover
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sudo ./pi/install_roverd.sh --mediamtx
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```
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What the script does:
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- creates the `roverd` (and optionally `mediamtx`) service users if missing and installs `/usr/local/bin/roverd`
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- copies `pi/roverd/roverd.sample.yaml` to `/etc/roverd.yaml` if the file is absent (existing configs are left untouched)
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- installs/enables the `roverd.service` systemd unit, restarting it automatically when a config already exists
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- when `--mediamtx` is passed, installs the sample mediaMTX config + unit, enables the service, and restarts it
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Flags:
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| Flag | Purpose |
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|------|---------|
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| `-b PATH` | use a different roverd binary (defaults to `dist/roverd`) |
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| `-c PATH` | seed `/etc/roverd.yaml` from another template |
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| `--mediamtx` | install the provided mediaMTX config + unit alongside roverd |
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If the script installs the sample config, it will remind you to edit `/etc/roverd.yaml` before manually restarting the service: set `name`, `serverUrl`, serial device, BRC pin, battery thresholds, and the WHEP URL that the central server should expose.
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## Manual installation
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1. Copy the binary and config:
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```bash
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sudo useradd -r -s /usr/sbin/nologin roverd || true
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sudo install -o roverd -g roverd -m 0755 dist/roverd /usr/local/bin/roverd
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sudo install -o roverd -g roverd -m 0640 pi/roverd/roverd.sample.yaml /etc/roverd.yaml
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```
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Adjust `/etc/roverd.yaml` for each rover: `name`, `serverUrl` (e.g. `ws://control-server:8080/rover`), serial port path, battery thresholds, GPIO pin for BRC, and the media WHEP URL that points at the central distribution server.
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2. Install the systemd unit:
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```bash
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sudo install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service
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sudo systemctl daemon-reload
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sudo systemctl enable --now roverd.service
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```
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`roverd` requires access to `/dev/ttyAMA0` and `/sys/class/gpio`; keeping it under its own user ensures the rest of the system stays isolated.
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If you set `media.manage: true` in `/etc/roverd.yaml`, make sure the `roverd` service account can invoke `systemctl <action> <media.service>` (either run the unit as root or grant sudo privileges for that command).
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## Configuring mediaMTX
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1. Download the latest mediaMTX release for ARMv7 and place the binary at `/usr/local/bin/mediamtx`.
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2. Copy the provided config:
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```bash
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sudo useradd -r -s /usr/sbin/nologin mediamtx || true
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sudo install -d -o mediamtx -g mediamtx /etc/mediamtx
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sudo install -o mediamtx -g mediamtx -m 0644 pi/mediamtx/mediamtx.yml /etc/mediamtx/mediamtx.yml
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sudo install -m 0644 pi/systemd/mediamtx.service /etc/systemd/system/mediamtx.service
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sudo systemctl daemon-reload
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sudo systemctl enable --now mediamtx.service
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```
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The sample config uses the Raspberry Pi camera module as the source and exposes a WHEP endpoint at `http://<pi-host>:8889/whep/rovercam`. Point `media.whepUrl` in `roverd.yaml` at this URL so the central server can list it.
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Expose the mediaMTX HTTP API locally (default `http://127.0.0.1:9997`) and set `media.healthUrl` so `roverd` can monitor the pipeline; `media.service` should match the systemd unit name (default `mediamtx.service`).
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## Server + UI
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From the repo root:
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```bash
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cd server
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npm install
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npm run start
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```
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This launches the HTTP server (serving the barebones UI) and the rover WebSocket endpoint at `ws://<server>:8080/rover`. The UI expects `roverd` instances to send `hello` frames so it can populate the rover list. Use the mode buttons to emit Start/Safe/Full/Passive/Dock commands (they send the raw OI opcode bytes), tap the sensor toggle to request Group 100 streaming, and use WASD for drive testing; the UI emits Drive Direct commands ~8 times per second, so the rover sees them immediately.
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