Software

How to install software to use your robot

This section contains instructions about installing software needed to setup, run and program your MARRtino robot.

MARRtino system software versions

Latest versions

v3.2 7/3/2020: ROS-kinetic packages update (very long update!!!)

v3.1 29/2/2020: Web video server

v3.0.1 25/1/2020: Support for new MARRtino MototBoard 2019

v2.8 30/7/2019: ROS keys updated

v2.7 19/5/2019: SPQReL navigation

v2.6 8/5/2019: Tensorflow + Keras

v2.5 19/4/2019: Mapping for Raspberry PI B+

v2.4 31/3/2019: Laser nodes for Raspberry PI B+

v2.3 15/3/2019: Tablet interaction (Python interface)

v2.2 23/2/2019: camera settings for Raspberry PI B+

v2.1 13/2/2019: audio settings for Raspberry PI B+

MARRtino Virtual Application and Raspberry image

Pre-installed software

MARRtino Virtual Application (Virtual Machine)

Requires:

  • Oracle VirtualBox 5.x or 6.x and Oracle VM VirtualBox Extension Pack
  • MARRtino OVA file

Installation instructions:

  • Install Oracle VirtualBox and Oracle VM VirtualBox Extension Pack
  • Download the Oracle virtual application MARRtino 3.2 (5 GB)
  • From Oracle VirtualBox, import MARRtino virtual application (Import appliance)
  • Run MARRtino virtual application and enjoy it! (User: ubuntu, Password: marrtino)

For additional instructions check also here (currently only in Italian).


Raspberry Pi 3 image files (for Model B and Model B+)

Image files for Model B: raspi3b_marrtino_v3.2 boot image (64 MB) - root image (10 GB)

Image files for Model B+: raspi3b+_marrtino_v3.2 boot image (64 MB) - root image (10 GB)

IMPORTANT: support for Arduino motor shield is not provided in version 3.x

If you have Arduino motor board, use the images below

Image files for Model B: raspi3b_marrtino_v2.7 boot image (64 MB) - root image (10 GB)

Image files for Model B+: raspi3b+_marrtino_v2.8 boot image (64 MB) - root image (10 GB)

User: ubuntu, Password: marrtino

Raspberry Pi installation instructions


Network configuration for Raspberry Pi

Mount partition /dev/mmcblk0p2 (e.g., in /media/<USER>/PI_ROOT) and follow network configuration instructions in this file MARRtino v2.0 Network Configuration

This configuration will enable the Raspberry PI to act as a Wireless Access Point and will activate a web server on boot.

Boot Raspberry Pi with MARRtino software v2.x.

Connect your device to the wireless network provided by the Raspberry PI (e.g., MARRtino 101)

Open a browser to the URL http://10.3.1.1/ and follow links and instructions there.


Docker image

(Under development)

See https://github.com/robocupathomeedu/rc-home-edu-learn-ros/tree/master/docker

Software updates

Software updates for VM and Raspberry

The following instructions are valid both for the VM and for the Raspberry on the robot. To access a terminal on the Raspberry, open an ssh connection either from the VM (ssh ubuntu@10.3.1.1) or from the Config web page.

Updates need Internet connection. For the Raspberry, make sure it is connected to Internet either with an Ethernet cable to devices configured for automatic DHCP or through USB tethering of a mobile phone connected to Internet. To test internet connection on the Raspberry, after ssh connection, try the command ping 8.8.8.8 and read results about the connection.

There are two kinds of updates available: 1) system updates include adding or updating libraries or source code that require to rebuild some application, 2) marrtino_apps update include only scripts and configuration files (no rebuilding). System updates may be long (even some hours), marrtino_apps updates are very short and they are usually included in system updates.

1. System update

Open a terminal (for Raspberry connect via ssh)

cd install
python marrtino_update.py

Confirm update

Password: marrtino

Note: you may need to repeat the update more times to update to the latest version. For example, to update from version 2.0 to version 2.2, you need to do the process twice: first to update from 2.0 to 2.1 and then to update from 2.1 to 2.2.

Note: system updates may require long time (specially if new libraries are compiled). Make sure you properly power the Raspberry (fully charged battery) and be patient!

IMPORTANT DO NOT INTERRUPT SYSTEM UPDATES

2. marrtino_apps update

Option 1: Use the button marrtino_apps Update in the Config web page

Option 2: open a terminal (for Raspberry connect via ssh) and type the commands

cd src/marrtino_apps
git pull

Additional Software packages

Manual installation

Manual installation (for expert users)

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