💾 l3xz-sw-pan-tilt-head

Software bundle for deployment on the Raspberry Pi Zero 2 of the L3X-Z pan/tilt head.

Setup

After cloning this repository, two parameters have to be configured:

• Network configuration in the application file (head)
• Path to the serial devices of the OpenMV cameras (head_launch.py)

After configuration the software bundle can be installed by simply running the installation script:

git clone https://github.com/107-systems/l3xz-sw-pan-tilt-head
cd l3xz-sw-pan-tilt-head
sudo ./install.sh

or cross-compile image for ARM on x86:

docker buildx build \
  --platform linux/arm64 \
  --tag ros2 \
  --output type=docker \
  .

followed by exporting the image and copying to the target device:

docker save ros2:latest | gzip > ros2_image_latest.tar.gz
scp ros2_image_latest.tar.gz [email protected]:/home/pi

and concluded by loading the updated image:

ssh [email protected]
docker load < ros2_image_latest.tar.gz

The Docker environment for the ROS infrastructure will be built and the application files will be bootstrapped over the system. Finally, the software will come up as a systemd service with the name head.service. The status of the software can be checked with the following command:

systemctl status head.service