slamraspi

[slamraspi]

Shell code for autostart

Auto launch thermal camera and pi camera

save as start.sh at cd ~

#!/bin/bash cd Desktop/SeniorDesign && sudo python camera.py & cd ~ && cd Adafruit_AMG88xx_python/examples && sudo python thermal_cam.py &

Scripts are running in parallel and you might have some difficulties to end the processes

[slamraspi]

Installing thermal camera

Follow this tutorial

https://learn.adafruit.com/adafruit-amg8833-8x8-thermal-camera-sensor/raspberry-pi-thermal-camera

Do a modification on thermal_cam.py for window size and positioning

from Adafruit_AMG88xx import Adafruit_AMG88xx import pygame import os import math import time

import numpy as np from scipy.interpolate import griddata

from colour import Color

#low range of the sensor (this will be blue on the screen) MINTEMP = 26

#high range of the sensor (this will be red on the screen) MAXTEMP = 32 lolx = 0 loly = 550 #how many color values we can have COLORDEPTH = 1024

os.putenv('SDL_FBDEV', '/dev/fb1') os.environ['SDL_VIDEO_WINDOW_POS'] =  "%d,%d" % (lolx,loly) pygame.init()

#initialize the sensor sensor = Adafruit_AMG88xx()

points = [(math.floor(ix / 8), (ix % 8)) for ix in range(0, 64)] grid_x, grid_y = np.mgrid[0:7:32j, 0:7:32j]

#sensor is an 8x8 grid so lets do a square height = 500 width = 500

#the list of colors we can choose from blue = Color("indigo") colors = list(blue.range_to(Color("red"), COLORDEPTH))

#create the array of colors colors = [(int(c.red * 255), int(c.green * 255), int(c.blue * 255)) for c in colors]

displayPixelWidth = width / 30 displayPixelHeight = height / 30

lcd = pygame.display.set_mode((width, height))

lcd.fill((255,0,0))

pygame.display.update() pygame.mouse.set_visible(False)

lcd.fill((0,0,0)) pygame.display.update()

#some utility functions def constrain(val, min_val, max_val):    return min(max_val, max(min_val, val))

def map(x, in_min, in_max, out_min, out_max):  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min

#let the sensor initialize time.sleep(.1) while(1):

#read the pixels pixels = sensor.readPixels() pixels = [map(p, MINTEMP, MAXTEMP, 0, COLORDEPTH - 1) for p in pixels] #perdorm interpolation bicubic = griddata(points, pixels, (grid_x, grid_y), method='cubic') #draw everything for ix, row in enumerate(bicubic): for jx, pixel in enumerate(row): pygame.draw.rect(lcd, colors[constrain(int(pixel), 0, COLORDEPTH- 1)], (displayPixelHeight * ix, displayPixelWidth * jx, displayPixelHeight, displayPixelWidth)) pygame.display.update()

run

cd Adafruit_AMG88xx_python/examples sudo python thermal_cam.py

[slamraspi]

Installing raspberry pi camera

sudo raspi-config

enable camera 

reboot

test camera by taking a picture (picture will be saved in cd directory)

raspistill -o output.jpg

Install picamera through pip

$ sudo apt-get install python-pip $ sudo pip install picamera

create python code for preview camera

camera.py

import time import picamera

with picamera.PiCamera() as camera:        camera.start_preview(fullscreen=False, window = (100,20,640,480))        time.sleep(10800)        camera.stop_preview()        camera.close()

Save and cd to the directory.

python camera.py

[slamraspi]

dnsmasq failed to create listening socket

fixed by editing dnsmasq.conf setting from previous post and #´d out

#bind-interfaces

[slamraspi]

SSH & VNC instruction

http://bfy.tw/2j9B

http://bfy.tw/Evm1

[slamraspi]

Raspi-config setup

[slamraspi]

RTL8188CUS Hotspot Setup

Follow this blog post setup (https://pimylifeup.com/raspberry-pi-wifi-extender/)

Below is the summarize version from the pimylifeup blog post. This tutorial works on raspbian jessie. (You can check by running cat /etc/os-release)

PRETTY_NAME="Raspbian GNU/Linux 8 (jessie)" NAME="Raspbian GNU/Linux" VERSION_ID="8" VERSION="8 (jessie)" ID=raspbian ID_LIKE=debian HOME_URL="http://www.raspbian.org/" SUPPORT_URL="http://www.raspbian.org/RaspbianForums" BUG_REPORT_URL="http://www.raspbian.org/RaspbianBugs"

sudo apt-get update

sudo apt-get upgrade

sudo reboot

sudo apt-get install dnsmasq hostapd

unplug RTL8188CUS adapter

ifconfig

check the name of the raspberry pi´s wifi (in this case, we´re using wlan0)

wlan0     Link encap:Ethernet  HWaddr b8:27:eb:3d:e6:db            inet addr:10.0.0.188  Bcast:10.0.0.255  Mask:255.255.255.0          inet6 addr: fe80::8d98:8d59:292f:61af/64 Scope:Link          inet6 addr: 2601:47:4001:3771::e54a/128 Scope:Global          inet6 addr: 2601:47:4001:3771:1d57:3121:3db7:1b3e/64 Scope:Global          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1          RX packets:48674 errors:0 dropped:4 overruns:0 frame:0          TX packets:45313 errors:0 dropped:0 overruns:0 carrier:0          collisions:0 txqueuelen:1000          RX bytes:47747864 (45.5 MiB)  TX bytes:22043723 (21.0 MiB)

sudo nano  /etc/wpa_supplicant/wpa_supplicant.conf

add wifi information that wlan0 need to be connected to

network={        ssid="networkname"        psk="networkpassword" }

plug in back RTL8188CUS adapter

this time check the name of the adapter

ifconfig

wlan1     Link encap:Ethernet  HWaddr 28:f3:66:aa:34:59            inet addr:192.168.220.1  Bcast:192.168.220.255  Mask:255.255.255.0          inet6 addr: fe80::2336:9660:2d7:cdce/64 Scope:Link          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1          RX packets:33489 errors:0 dropped:665 overruns:0 frame:0          TX packets:19398 errors:0 dropped:10 overruns:0 carrier:0          collisions:0 txqueuelen:1000          RX bytes:20465494 (19.5 MiB)  TX bytes:15935029 (15.1 MiB)

sudo nano /etc/dhcpcd.conf

write wlan1 static ip setting as follows

interface wlan1 static ip_address=192.168.220.1/24 static routers=192.168.220.0

sudo service dhcpcd restart

sudo nano /etc/hostapd/hostapd.conf

write the following setting into hostapd.conf. change DELICOUS and lolwut to your desired ssid and password.

interface=wlan1 driver=nl80211

hw_mode=g channel=6 ieee80211n=1 wmm_enabled=1 ht_capab=[HT40][SHORT-GI-20][DSSS_CCK-40] macaddr_acl=0 ignore_broadcast_ssid=0

auth_algs=1 wpa=2 wpa_key_mgmt=WPA-PSK rsn_pairwise=CCMP

ssid=DELICIOUS wpa_passphrase=lolwut

sudo nano /etc/default/hostapd

change this

#DAEMON_CONF=""

to this

DAEMON_CONF="/etc/hostapd/hostapd.conf"

sudo nano /etc/init.d/hostapd

do the same thing, change this

#DAEMON_CONF=""

to this

DAEMON_CONF="/etc/hostapd/hostapd.conf"

sudo mv /etc/dnsmasq.conf /etc/dnsmasq.conf.orig

sudo nano /etc/dnsmasq.conf

add this to dnsmasq.conf

interface=wlan1       # Use interface wlan1   listen-address=192.168.220.1   # Specify the address to listen on   bind-interfaces      # Bind to the interface server=8.8.8.8       # Use Google DNS   domain-needed        # Don't forward short names   bogus-priv           # Drop the non-routed address spaces.   dhcp-range=192.168.220.50,192.168.220.150,12h # IP range and lease time  

sudo nano /etc/sysctl.conf

change this

#net.ipv4.ip_forward=1

to this

net.ipv4.ip_forward=1

sudo sh -c "echo 1 > /proc/sys/net/ipv4/ip_forward"

moving on to the best part, this is how we route packet to/from wlan0 to wlan1

sudo iptables -t nat -A POSTROUTING -o wlan0 -j MASQUERADE  

sudo iptables -A FORWARD -i wlan0 -o wlan1 -m state --state RELATED,ESTABLISHED -j ACCEPT  

sudo iptables -A FORWARD -i wlan1 -o wlan0 -j ACCEPT

sudo sh -c "iptables-save > /etc/iptables.ipv4.nat"

sudo nano /etc/rc.local

Find:

exit 0

Add ABOVE:

iptables-restore < /etc/iptables.ipv4.nat

sudo service hostapd start

sudo service dnsmasq start

sudo reboot

If you have problem with dnsmasq: failed to create listening socket for 192.168.220.1: Cannot assign requested address

sudo nano /etc/network/interfaces 

remove all wlan0 and wlan1 configuration

add this

allow-hotplug wlan0

iface wlan0 inet dhcp

wpa-conf /etc/wpa_supplicant/wpa_supplicant.conf

allow-hotplug wlan1

sudo dnsmasq

check if adapter broadcast the ssid, try to connect to the wifi ssid

[slamraspi]

Initial Setup

-Raspberry Pi 3 (with debian jessie)

-RTL8188CUS 802.11n WLAN Adapter (for hotspot to SSH or remote desktop connection)

-Thermal Sensor (ADAFRUIT AMG8833 IR THERMAL CAMERA BREAKOUT for victim search process)

-Raspberry pi camera module

-Lidar sensor (XV-11 Neato for environmental mapping using SLAM)

-3 Ultrasonic sensor (for distance measuring and navigation)