Clean out the Pi Zero leftovers, rewrite the README, and add the one installer
Wi-Fi-off acceptance passed: with Wi-Fi blocked, live and after a reboot, the Pi came up on the USB link alone, every node ran, and hermes mcp test robot and look() worked. (A temporary guard that would have unblocked Wi-Fi was the safety net and is removed; Wi-Fi is back on.) Delete what the ROS design superseded: the Picamera2 MCP server and its unit, the old installer and requirements, and the duplicate platform check. Move omarchy/ to host/omarchy/. Rewrite README.md for this build: parts, physical steps (including the Audio switch), setup, daily use, the troubleshooting learned the hard way, and the security model. pi/install.sh is now the single installer for a fresh Ubuntu 24.04 image, built from the steps done by hand: ROS, the libcamera fork at a pinned commit, camera_ros, the venv and models, the workspace, USB gadget, audio overlay, firewall (before PipeWire opens a port), PipeWire, mixer and services. Run twice on the live robot, the second run changed nothing and everything stayed healthy. It has not been run on a blank card. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
This commit is contained in:
Claude Sonnet 5.5
+152
-83
@@ -1,96 +1,165 @@
|
||||
#!/usr/bin/env bash
|
||||
# Robot setup for Raspberry Pi OS Lite (64-bit) on a Pi Zero 2 W.
|
||||
# Run as your normal user (not root) from inside this "pi" folder:
|
||||
#!/bin/bash
|
||||
# Set up the robot's Raspberry Pi 4 from a fresh Ubuntu Server 24.04 (arm64) image.
|
||||
#
|
||||
# ./install.sh <omarchy-machine-ip> [--servos]
|
||||
# rsync -a ./ hermes@<pi>:~/hermes-bot/
|
||||
# ssh hermes@<pi> 'cd hermes-bot && sudo ./pi/install.sh'
|
||||
#
|
||||
# Safe to re-run. Reboot afterwards so the I2S sound card overlay takes effect.
|
||||
# Re-runnable: every step checks before it changes anything, and the heavy builds skip themselves if
|
||||
# they are already done. Needs the internet (apt, git, pip, model downloads). The first run takes a
|
||||
# while (the libcamera build alone is about 15 minutes). Reboot afterwards: it changes /boot/firmware/
|
||||
# config.txt for the USB gadget and the audio codec.
|
||||
#
|
||||
# The user (default "hermes", set ROBOT_USER) must already exist: create it in cloud-init user-data.
|
||||
# Order matters: the firewall goes in before PipeWire's network server, which listens on every
|
||||
# interface and is protected only by that firewall.
|
||||
set -euo pipefail
|
||||
|
||||
HOST_IP="${1:-}"
|
||||
SERVOS=0
|
||||
[[ "${2:-}" == "--servos" ]] && SERVOS=1
|
||||
ROBOT_USER="${ROBOT_USER:-hermes}"
|
||||
PI_DIR="$(cd "$(dirname "$0")" && pwd)"
|
||||
REPO="$(dirname "$PI_DIR")"
|
||||
# Raspberry Pi's fork of libcamera, at a commit known to capture on this kernel. Upstream libcamera,
|
||||
# Ubuntu's 0.2.0 and ROS's 0.7.2 all crash in the Pi image-processing plugin when capturing.
|
||||
LIBCAMERA_REF=6c1dd9d55573010f710c9e190a73e7e76f0d9432
|
||||
CAMERA_ROS_TAG=0.7.0
|
||||
MODEL_BASE=https://github.com/opencv/opencv_zoo/raw/main/models # a plain raw URL returns a Git LFS pointer
|
||||
|
||||
if [[ -z "$HOST_IP" || ! "$HOST_IP" =~ ^[0-9]{1,3}(\.[0-9]{1,3}){3}$ ]]; then
|
||||
echo "usage: $0 <omarchy-machine-ipv4> [--servos]" >&2
|
||||
exit 1
|
||||
fi
|
||||
if [[ $EUID -eq 0 ]]; then
|
||||
echo "Run this as your normal user; it calls sudo where needed." >&2
|
||||
exit 1
|
||||
export DEBIAN_FRONTEND=noninteractive NEEDRESTART_MODE=a
|
||||
REBOOT=0
|
||||
|
||||
[ "$(id -u)" = 0 ] || { echo "run with sudo" >&2; exit 1; }
|
||||
HOME_DIR="$(getent passwd "$ROBOT_USER" | cut -d: -f6)"
|
||||
[ -n "$HOME_DIR" ] || { echo "no user '$ROBOT_USER': create it in cloud-init user-data first" >&2; exit 1; }
|
||||
grep -qs "Ubuntu 24.04" /etc/os-release || echo "warning: this is written for Ubuntu 24.04" >&2
|
||||
|
||||
step() { printf '\n==> %s\n' "$*"; }
|
||||
as_user() { sudo -u "$ROBOT_USER" -H "$@"; }
|
||||
cfg_sum() { sha256sum /boot/firmware/config.txt | cut -d' ' -f1; }
|
||||
USER_UID="$(id -u "$ROBOT_USER")"
|
||||
|
||||
step "Base packages"
|
||||
apt-get update -q
|
||||
apt-get -y -q install git curl rsync software-properties-common openssl rfkill device-tree-compiler i2c-tools \
|
||||
alsa-utils python3-numpy python3-pil python3-spidev python3-lgpio python3-rpi-lgpio python3-pip \
|
||||
python3-venv pipewire pipewire-pulse wireplumber libspa-0.2-modules pulseaudio-utils \
|
||||
meson ninja-build pkg-config python3-yaml python3-ply python3-jinja2 libyaml-dev libgnutls28-dev \
|
||||
libssl-dev libudev-dev libevent-dev libdrm-dev libjpeg-dev libpng-dev libtiff-dev libboost-dev v4l-utils
|
||||
|
||||
step "Groups for hardware access"
|
||||
for g in video audio i2c spi gpio dialout plugdev; do
|
||||
getent group "$g" >/dev/null && usermod -aG "$g" "$ROBOT_USER" || echo " (no group $g on this image)"
|
||||
done
|
||||
|
||||
step "ROS 2 Jazzy"
|
||||
if ! dpkg -s ros-jazzy-ros-base >/dev/null 2>&1; then
|
||||
add-apt-repository -y universe
|
||||
. /etc/os-release
|
||||
V="$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F tag_name | awk -F\" '{print $4}')"
|
||||
curl -fL -o /tmp/ros2-apt-source.deb \
|
||||
"https://github.com/ros-infrastructure/ros-apt-source/releases/download/${V}/ros2-apt-source_${V}.${UBUNTU_CODENAME:-$VERSION_CODENAME}_all.deb"
|
||||
dpkg -i /tmp/ros2-apt-source.deb
|
||||
apt-get update -q
|
||||
fi
|
||||
# ros-jazzy-camera-ros is installed for its dependencies; the camera driver actually used is built below
|
||||
apt-get -y -q install ros-jazzy-ros-base ros-dev-tools python3-colcon-common-extensions \
|
||||
ros-jazzy-robot-state-publisher ros-jazzy-xacro ros-jazzy-camera-ros ros-jazzy-vision-msgs
|
||||
|
||||
HERE="$(cd "$(dirname "$0")" && pwd)"
|
||||
ME="$(id -un)"
|
||||
CONFIG_TXT=/boot/firmware/config.txt
|
||||
[[ -f $CONFIG_TXT ]] || CONFIG_TXT=/boot/config.txt
|
||||
|
||||
echo "==> Installing packages"
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y --no-install-recommends \
|
||||
python3-picamera2 python3-venv \
|
||||
pipewire pipewire-pulse pipewire-alsa wireplumber libspa-0.2-modules \
|
||||
pulseaudio-utils alsa-utils nftables openssl
|
||||
|
||||
echo "==> Enabling the I2S microphone/amplifier overlay in $CONFIG_TXT"
|
||||
add_line() { grep -qxF "$1" "$CONFIG_TXT" || echo "$1" | sudo tee -a "$CONFIG_TXT" >/dev/null; }
|
||||
add_line "dtparam=i2s=on"
|
||||
add_line "dtoverlay=googlevoicehat-soundcard"
|
||||
if [[ $SERVOS -eq 1 ]]; then
|
||||
add_line "dtparam=i2c_arm=on"
|
||||
fi
|
||||
|
||||
echo "==> Installing the MCP server to /opt/robot-mcp"
|
||||
sudo mkdir -p /opt/robot-mcp
|
||||
sudo chown "$ME:$ME" /opt/robot-mcp
|
||||
cp "$HERE/robot_mcp_server.py" /opt/robot-mcp/
|
||||
# --system-site-packages so the venv can see the apt-installed picamera2/libcamera
|
||||
[[ -d /opt/robot-mcp/venv ]] || python3 -m venv --system-site-packages /opt/robot-mcp/venv
|
||||
/opt/robot-mcp/venv/bin/pip install --upgrade pip >/dev/null
|
||||
/opt/robot-mcp/venv/bin/pip install -r "$HERE/requirements.txt"
|
||||
if [[ $SERVOS -eq 1 ]]; then
|
||||
/opt/robot-mcp/venv/bin/pip install adafruit-circuitpython-servokit
|
||||
fi
|
||||
|
||||
echo "==> Writing /etc/robot-mcp.env"
|
||||
if ! sudo test -f /etc/robot-mcp.env; then
|
||||
TOKEN="$(openssl rand -hex 32)"
|
||||
sudo tee /etc/robot-mcp.env >/dev/null <<EOF
|
||||
ROBOT_MCP_TOKEN=$TOKEN
|
||||
ROBOT_MCP_PORT=8765
|
||||
ROBOT_CAM_SIZE=1280x720
|
||||
ROBOT_CAM_HFLIP=0
|
||||
ROBOT_CAM_VFLIP=0
|
||||
ROBOT_SERVOS=$SERVOS
|
||||
EOF
|
||||
sudo chown root:"$ME" /etc/robot-mcp.env
|
||||
sudo chmod 640 /etc/robot-mcp.env
|
||||
step "Raspberry Pi libcamera fork -> /opt/libcamera-rpi"
|
||||
if [ -x /opt/libcamera-rpi/bin/cam ]; then
|
||||
echo " already built"
|
||||
else
|
||||
sudo sed -i "s/^ROBOT_SERVOS=.*/ROBOT_SERVOS=$SERVOS/" /etc/robot-mcp.env
|
||||
rm -rf /var/tmp/libcamera-rpi
|
||||
git clone -q --no-checkout https://github.com/raspberrypi/libcamera.git /var/tmp/libcamera-rpi
|
||||
git -C /var/tmp/libcamera-rpi fetch -q --depth 1 origin "$LIBCAMERA_REF"
|
||||
git -C /var/tmp/libcamera-rpi checkout -q FETCH_HEAD
|
||||
(cd /var/tmp/libcamera-rpi \
|
||||
&& meson setup build --buildtype=release -Dprefix=/opt/libcamera-rpi -Dpipelines=rpi/vc4 -Dipas=rpi/vc4 \
|
||||
-Dcam=enabled -Dqcam=disabled -Dgstreamer=disabled -Dpycamera=disabled -Dlc-compliance=disabled \
|
||||
-Dtest=false -Ddocumentation=disabled -Dv4l2=false \
|
||||
&& ninja -C build -j4 && ninja -C build install)
|
||||
fi
|
||||
|
||||
echo "==> Installing the systemd service"
|
||||
sed "s/__USER__/$ME/g" "$HERE/robot-mcp.service" | sudo tee /etc/systemd/system/robot-mcp.service >/dev/null
|
||||
getent group i2c >/dev/null || sudo groupadd --system i2c
|
||||
sudo systemctl daemon-reload
|
||||
sudo systemctl enable robot-mcp.service
|
||||
step "Python environment (~/venv: display, OpenCV 4.10 for YuNet, MCP SDK)"
|
||||
# OpenCV's DNN needs 4.8+ for the YuNet model and apt has 4.6; numpy stays below 2 because the ROS
|
||||
# Python packages are built against 1.x.
|
||||
[ -d "$HOME_DIR/venv" ] || as_user python3 -m venv --system-site-packages "$HOME_DIR/venv"
|
||||
as_user "$HOME_DIR/venv/bin/pip" install -q adafruit-circuitpython-rgb-display adafruit-blinka \
|
||||
"opencv-python-headless==4.10.0.84" "numpy<2" "mcp>=2.3,<3"
|
||||
|
||||
echo "==> Configuring PipeWire to serve audio to $HOST_IP"
|
||||
mkdir -p ~/.config/pipewire/pipewire-pulse.conf.d
|
||||
cp "$HERE/pipewire/50-network-server.conf" ~/.config/pipewire/pipewire-pulse.conf.d/
|
||||
# Run the audio stack at boot without anyone logging in.
|
||||
sudo loginctl enable-linger "$ME"
|
||||
systemctl --user enable pipewire.socket pipewire-pulse.socket wireplumber.service 2>/dev/null || true
|
||||
step "Face models (~/models)"
|
||||
as_user mkdir -p "$HOME_DIR/models"
|
||||
fetch_model() { # name, path in the zoo
|
||||
local dest="$HOME_DIR/models/$1"
|
||||
if [ "$(stat -c %s "$dest" 2>/dev/null || echo 0)" -lt 100000 ]; then
|
||||
as_user curl -fsSL -o "$dest" "$MODEL_BASE/$2/$1"
|
||||
fi
|
||||
[ "$(stat -c %s "$dest")" -gt 100000 ] || { echo " $1 looks like an LFS pointer, not the model" >&2; exit 1; }
|
||||
}
|
||||
fetch_model face_detection_yunet_2023mar.onnx face_detection_yunet
|
||||
fetch_model face_recognition_sface_2021dec.onnx face_recognition_sface
|
||||
|
||||
echo "==> Restricting ports 4713 and 8765 to $HOST_IP"
|
||||
sed "s/__HOST_IP__/$HOST_IP/g" "$HERE/nftables-robot.nft" | sudo tee /etc/nftables-robot.nft >/dev/null
|
||||
grep -qxF 'include "/etc/nftables-robot.nft"' /etc/nftables.conf \
|
||||
|| echo 'include "/etc/nftables-robot.nft"' | sudo tee -a /etc/nftables.conf >/dev/null
|
||||
sudo systemctl enable nftables.service
|
||||
sudo systemctl restart nftables.service
|
||||
step "camera_ros $CAMERA_ROS_TAG, built against the libcamera fork (~/camera_ws)"
|
||||
if [ -d "$HOME_DIR/camera_ws/install/camera_ros" ]; then
|
||||
echo " already built"
|
||||
else
|
||||
as_user mkdir -p "$HOME_DIR/camera_ws/src"
|
||||
[ -d "$HOME_DIR/camera_ws/src/camera_ros" ] || as_user git clone -q --depth 1 --branch "$CAMERA_ROS_TAG" \
|
||||
https://github.com/christianrauch/camera_ros.git "$HOME_DIR/camera_ws/src/camera_ros"
|
||||
as_user bash -c "source /opt/ros/jazzy/setup.bash && export PKG_CONFIG_PATH=/opt/libcamera-rpi/lib/aarch64-linux-gnu/pkgconfig \
|
||||
&& cd '$HOME_DIR/camera_ws' && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
|
||||
fi
|
||||
|
||||
echo
|
||||
echo "Done. Reboot now: sudo reboot"
|
||||
echo
|
||||
echo "Your MCP token (put this in ~/.hermes/.env on the Omarchy machine as ROBOT_MCP_TOKEN):"
|
||||
sudo grep '^ROBOT_MCP_TOKEN=' /etc/robot-mcp.env | cut -d= -f2
|
||||
step "Environment script and the robot's ROS workspace (~/ros_ws)"
|
||||
install -o "$ROBOT_USER" -g "$ROBOT_USER" -m 644 "$PI_DIR/robot-env.sh" "$HOME_DIR/robot-env.sh"
|
||||
as_user mkdir -p "$HOME_DIR/ros_ws/src"
|
||||
rsync -a --delete --exclude __pycache__ "$REPO/ros/" "$HOME_DIR/ros_ws/src/"
|
||||
chown -R "$ROBOT_USER:$ROBOT_USER" "$HOME_DIR/ros_ws/src"
|
||||
as_user bash -c "source /opt/ros/jazzy/setup.bash && source '$HOME_DIR/camera_ws/install/setup.bash' \
|
||||
&& cd '$HOME_DIR/ros_ws' && colcon build --symlink-install"
|
||||
|
||||
step "USB gadget (NCM Ethernet + ACM serial) and the audio codec overlay"
|
||||
before="$(cfg_sum)"
|
||||
bash "$PI_DIR/install-usb-gadget.sh"
|
||||
bash "$PI_DIR/install-audio-overlay.sh"
|
||||
[ "$before" = "$(cfg_sum)" ] || REBOOT=1
|
||||
|
||||
step "Firewall (before anything listens on the network)"
|
||||
bash "$PI_DIR/install-firewall.sh"
|
||||
|
||||
step "PipeWire for $ROBOT_USER (audio server, reachable only over the USB link)"
|
||||
loginctl enable-linger "$ROBOT_USER"
|
||||
as_user mkdir -p "$HOME_DIR/.config/pipewire/pipewire-pulse.conf.d"
|
||||
install -o "$ROBOT_USER" -g "$ROBOT_USER" -m 644 "$PI_DIR/pipewire/50-network-server.conf" \
|
||||
"$HOME_DIR/.config/pipewire/pipewire-pulse.conf.d/50-network-server.conf"
|
||||
for _ in $(seq 20); do [ -S "/run/user/$USER_UID/bus" ] && break; sleep 1; done
|
||||
as_user env XDG_RUNTIME_DIR="/run/user/$USER_UID" systemctl --user enable --now \
|
||||
pipewire.socket pipewire-pulse.socket wireplumber.service \
|
||||
|| echo " (the user session is not up yet; PipeWire starts at the next boot)"
|
||||
|
||||
step "Audio codec mixer and microphone gain"
|
||||
if aplay -l 2>/dev/null | grep -q wm8960; then
|
||||
alsactl -f "$PI_DIR/wm8960_asound.state" restore wm8960soundcard && alsactl store wm8960soundcard
|
||||
# WirePlumber resets the codec's capture gain to +30 dB when it takes the device; 63% on PipeWire's
|
||||
# cubic scale is -12 dB from that, about +17 dB.
|
||||
as_user env XDG_RUNTIME_DIR="/run/user/$USER_UID" pactl set-source-volume @DEFAULT_SOURCE@ 63% \
|
||||
|| echo " (could not set the source volume: run pactl set-source-volume @DEFAULT_SOURCE@ 63% later)"
|
||||
else
|
||||
echo " no WM8960 card yet: reboot, then run this script again"
|
||||
REBOOT=1
|
||||
fi
|
||||
|
||||
step "Services: the robot (face, camera, vision, audio, MCP bridge), the CPU governor, trimmed boot"
|
||||
bash "$PI_DIR/install-robot-service.sh"
|
||||
bash "$PI_DIR/trim-boot.sh"
|
||||
|
||||
cat <<EOF
|
||||
|
||||
Done.$([ "$REBOOT" = 1 ] && echo " REBOOT NOW: the USB gadget and the audio overlay only take effect then.")
|
||||
|
||||
Next:
|
||||
- Slide the HAT's "Audio" switch (right edge) to ON, or every recording is silent.
|
||||
- Plug the USB-C data cable into your computer, then on it: sudo host/omarchy/robot-usb-link.sh
|
||||
- Hermes needs the MCP token. It is not printed here; read it with:
|
||||
ssh $ROBOT_USER@10.55.0.2 sudo cat /etc/robot-mcp.env
|
||||
then see host/omarchy/hermes-config-snippet.yaml.
|
||||
- Check with: hermes mcp test robot
|
||||
EOF
|
||||
|
||||
Reference in New Issue
Block a user