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WPILibPi 2024.1.1 Beta 1

09 Mar 05:52
@PeterJohnson PeterJohnson
v2024.1.1-beta-1
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WPILibPi 2024.1.1 Beta 1 Pre-release
Pre-release

This is the initial beta release of WPILibPi for 2024. The major update for 2024 is the OS is now Bookworm-based and supports the Raspberry Pi 5.

Known issues:

  • Only the base vision processing image is implemented (Romi is not yet complete)
  • Network settings via the web dashboard does not work
  • The Python example still uses CameraServer.setSize(), this should be replaced with CameraServer.removeCamera("unused")

About WPILibPi

This Raspberry Pi OS-based Raspberry Pi image includes C++, Java, and Python libraries required for vision coprocessor development for FRC (e.g. opencv, cscore, ntcore, robotpy-cscore, pyntcore, Java 17, etc).

The image has been tested with the Raspberry Pi 5, but should also work on other models.

Features

  • Web dashboard for configuring the rPi (e.g. changing network settings), monitoring the vision program (console, restart), changing CameraServer and NetworkTables settings, and uploading vision processing applications, all without the need for SSH
  • Default application that performs simple streaming of multiple cameras as well as camera switching; the image is "plug and play" for FRC dashboard streaming (just set your team number in the rPi web dashboard)
  • Includes example C++, Java, and Python programs to use as a basis for vision processing code
  • Designed for robustness to hard power offs by defaulting the filesystem to read only mode; safe to power directly from the VRM without an external battery
  • Boots (power applied to vision program running) in less than 20 seconds
  • All wireless functionality disabled (both WiFi and Bluetooth), so legal for competition use out of the box.

Getting Started

See https://docs.wpilib.org/en/stable/docs/software/vision-processing/wpilibpi/index.html (for the base image) for visual step-by-step installation instructions and additional documentation.

  1. Download WPILibPi_image-2024.1.1-beta-1.zip and use Etcher (https://www.balena.io/etcher/) to image a micro SD card. The micro SD card needs to be at least 8 GB. Note: a micro SD to USB dongle such as https://www.amazon.com/gp/product/B0779V61XB works well for writing to micro SD cards.

  2. Put the micro SD card in a rPi and apply power. The initial boot may take as long as a couple of minutes (depending on SD card size), but later boots will be much faster (20 seconds or less).

Base image: Connect the rPi ethernet to a LAN or PC. Open a web browser and connect to http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

What's Changed Since 2023.2.1

  • Update to Bookworm
  • Raspberry Pi 5 support
  • Update to WPILib 2024.3.1 and RobotPy 2024.3.1
  • Only a 64-bit image is provided
Assets 6
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WPILibPi 2023.2.1 Release

20 Feb 04:04
@PeterJohnson PeterJohnson
v2023.2.1
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WPILibPi 2023.2.1 Release Latest
Latest

About WPILibPi

This Raspberry Pi OS-based Raspberry Pi image includes C++, Java, and Python libraries required for vision coprocessor development for FRC (e.g. opencv, cscore, ntcore, robotpy-cscore, pyntcore, Java 17, etc). WPILibPi comes in two variants, the "base" image for vision coprocessors, and an image designed for use with Pololu Romi 32U4 based robots.

The image has been tested with the Raspberry Pi 4 and 3B, but should also work on other models. Note: due to the mechanical mounting configuration of the Romi, there is minimal space for a heatsink on the Pi, so the 3 is recommended for Romi use.

Features

  • Web dashboard for configuring the rPi (e.g. changing network settings), monitoring the vision program (console, restart), changing CameraServer and NetworkTables settings, and uploading vision processing applications, all without the need for SSH
  • Default application that performs simple streaming of multiple cameras as well as camera switching; the image is "plug and play" for FRC dashboard streaming (just set your team number in the rPi web dashboard)
  • Includes example C++, Java, and Python programs to use as a basis for vision processing code
  • Designed for robustness to hard power offs by defaulting the filesystem to read only mode; safe to power directly from the VRM without an external battery
  • Boots (power applied to vision program running) in less than 20 seconds
  • All wireless functionality disabled (both WiFi and Bluetooth), so legal for competition use out of the box.

Romi Features

  • Built-in WebSockets-based interface to robot code running on a desktop computer
  • Web-based configuration of WiFi networking; supports both bridge and AP mode (including DHCP server in AP mode)
  • The Romi image is preconfigured as a WiFi Access Point network with SSID "WPILibPi-########", WPA2 passphrase "WPILib2021!", and default IP of 10.0.0.2
  • 32U4 firmware imaging through web dashboard

Getting Started

See https://docs.wpilib.org/en/stable/docs/software/vision-processing/wpilibpi/index.html (for the base image) or https://docs.wpilib.org/en/stable/docs/romi-robot/index.html (for the Romi) for visual step-by-step installation instructions and additional documentation.

  1. Download WPILibPi_image-2023.2.1.zip (or WPILibPi_image-2023.2.1-Romi.zip for the Romi image) and use Etcher (https://www.balena.io/etcher/) to image a micro SD card. The micro SD card needs to be at least 8 GB. Note: a micro SD to USB dongle such as https://www.amazon.com/gp/product/B0779V61XB works well for writing to micro SD cards.

  2. Put the micro SD card in a rPi and apply power. The initial boot may take as long as a couple of minutes (depending on SD card size), but later boots will be much faster (20 seconds or less).

Base image: Connect the rPi ethernet to a LAN or PC. Open a web browser and connect to http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

Romi image: Connect to the WiFi SSID "WPILibPi-########" (the number is unique based on the Pi's internal serial number), WPA2 passphrase "WPILib2021!". Open a web browser and connect to either http://10.0.0.2/ or http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

What's Changed Since 2023.1.1

  • Romi: Fixed firmware update
  • Fixed first camera stream not working
  • Update to WPILib 2023.4.1 and RobotPy 2023.4.1
  • Both 32-bit and 64-bit images are now provided (64-bit is recommended)

Full Changelog: v2023.1.1...v2023.2.1

Hashes

MD5 Hashes

948840d5f161884876a05b82ca1a06df  WPILibPi_32_image-v2023.2.1-Romi.zip
5003ec07cfde9229da1b837658f6f5cf  WPILibPi_32_image-v2023.2.1.zip
30258f6b4e17c26ccc2a027803d0ee4e  WPILibPi_64_image-v2023.2.1-Romi.zip
5aaddcd6f3c3df81fa32319ade3a780f  WPILibPi_64_image-v2023.2.1.zip
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66de379bb85f420aae3c77f9d90181a3  java-multiCameraServer.zip
a64adb554b323a8f3f3839010d88048f  python-multiCameraServer.zip

SHA256 Hashes

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8fcd25b207cab5ff53d8143621b98684a478be30ec7818c50615511c4cb1dbce  python-multiCameraServer.zip
Assets 10
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WPILibPi 2023.1.1 Release

16 Jan 06:52
@PeterJohnson PeterJohnson
v2023.1.1
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WPILibPi 2023.1.1 Release

About WPILibPi

This Raspberry Pi OS-based Raspberry Pi image includes C++, Java, and Python libraries required for vision coprocessor development for FRC (e.g. opencv, cscore, ntcore, robotpy-cscore, pyntcore, Java 17, etc). WPILibPi comes in two variants, the "base" image for vision coprocessors, and an image designed for use with Pololu Romi 32U4 based robots.

The image has been tested with the Raspberry Pi 4 and 3B, but should also work on other models. Note: due to the mechanical mounting configuration of the Romi, there is minimal space for a heatsink on the Pi, so the 3 is recommended for Romi use.

Known Issues

The firmware download on the Romi has been reported not to work with this image. For now please use the 2022.1.1 image for Romi (the 2022 image will work fine with 2023 WPILib Romi robot programs).

Features

  • Web dashboard for configuring the rPi (e.g. changing network settings), monitoring the vision program (console, restart), changing CameraServer and NetworkTables settings, and uploading vision processing applications, all without the need for SSH
  • Default application that performs simple streaming of multiple cameras as well as camera switching; the image is "plug and play" for FRC dashboard streaming (just set your team number in the rPi web dashboard)
  • Includes example C++, Java, and Python programs to use as a basis for vision processing code
  • Designed for robustness to hard power offs by defaulting the filesystem to read only mode; safe to power directly from the VRM without an external battery
  • Boots (power applied to vision program running) in less than 20 seconds
  • All wireless functionality disabled (both WiFi and Bluetooth), so legal for competition use out of the box.

Romi Features

  • Built-in WebSockets-based interface to robot code running on a desktop computer
  • Web-based configuration of WiFi networking; supports both bridge and AP mode (including DHCP server in AP mode)
  • The Romi image is preconfigured as a WiFi Access Point network with SSID "WPILibPi-########", WPA2 passphrase "WPILib2021!", and default IP of 10.0.0.2
  • 32U4 firmware imaging through web dashboard

Getting Started

See https://docs.wpilib.org/en/stable/docs/software/vision-processing/wpilibpi/index.html (for the base image) or https://docs.wpilib.org/en/stable/docs/romi-robot/index.html (for the Romi) for visual step-by-step installation instructions and additional documentation.

  1. Download WPILibPi_image-2023.1.1.zip (or WPILibPi_image-2023.1.1-Romi.zip for the Romi image) and use Etcher (https://www.balena.io/etcher/) to image a micro SD card. The micro SD card needs to be at least 8 GB. Note: a micro SD to USB dongle such as https://www.amazon.com/gp/product/B0779V61XB works well for writing to micro SD cards.

  2. Put the micro SD card in a rPi and apply power. The initial boot may take as long as a couple of minutes (depending on SD card size), but later boots will be much faster (20 seconds or less).

Base image: Connect the rPi ethernet to a LAN or PC. Open a web browser and connect to http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

Romi image: Connect to the WiFi SSID "WPILibPi-########" (the number is unique based on the Pi's internal serial number), WPA2 passphrase "WPILib2021!". Open a web browser and connect to either http://10.0.0.2/ or http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

What's Changed Since 2022.1.1

  • Image is now based on 64-bit bullseye distribution
  • Update to WPILib 2023.2.1 and RobotPy 2023.2.1, including AprilTag libraries
  • Update to OpenCV 4.6.0
  • Update to Java 17

Full Changelog: v2022.3.1...v2023.1.1

Hashes

MD5 Hashes

b974c8a94a0b029b412f79b7ed8d73f6  WPILibPi_image-v2023.1.1-Romi.zip
33a034dee9b18d1aba25321f5693b8bd  WPILibPi_image-v2023.1.1.zip
171295a0b9e0897e5e026a3f31f97658  cpp-multiCameraServer.zip
2760fb749b30ac116a1c1564b18f75e2  java-multiCameraServer.zip
72809e35193b51c678cd8de0356aeb56  python-multiCameraServer.zip

SHA256 Hashes

7a06df747cb9fece980f811d8e380f80e3a3a537413946277f0f8cb74dcdf82c  WPILibPi_image-v2023.1.1-Romi.zip
47618fdf571956dba8144574c830d63c27b0daddd507e6af8b81baf78bef8b6e  WPILibPi_image-v2023.1.1.zip
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Assets 7
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WPILibPi 2022.1.1 Release

18 Mar 06:41
@PeterJohnson PeterJohnson
v2022.1.1
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WPILibPi 2022.1.1 Release

About WPILibPi (formerly FRCVision)

This Raspbian-based Raspberry Pi image includes C++, Java, and Python libraries required for vision coprocessor development for FRC (e.g. opencv, cscore, ntcore, robotpy-cscore, pynetworktables, Java 11, etc). WPILibPi comes in two variants, the "base" image for vision coprocessors, and an image designed for use with Pololu Romi 32U4 based robots.

The image has been tested with the Raspberry Pi 4 and 3B, but should also work on other models. Note: due to the mechanical mounting configuration of the Romi, there is minimal space for a heatsink on the Pi, so the 3 is recommended for Romi use.

Features

  • Web dashboard for configuring the rPi (e.g. changing network settings), monitoring the vision program (console, restart), changing CameraServer and NetworkTables settings, and uploading vision processing applications, all without the need for SSH
  • Default application that performs simple streaming of multiple cameras as well as camera switching; the image is "plug and play" for FRC dashboard streaming (just set your team number in the rPi web dashboard)
  • Includes example C++, Java, and Python programs to use as a basis for vision processing code
  • Designed for robustness to hard power offs by defaulting the filesystem to read only mode; safe to power directly from the VRM without an external battery
  • Boots (power applied to vision program running) in less than 20 seconds
  • All wireless functionality disabled (both WiFi and Bluetooth), so legal for competition use out of the box.

Romi Features

  • Built-in WebSockets-based interface to robot code running on a desktop computer
  • Web-based configuration of WiFi networking; supports both bridge and AP mode (including DHCP server in AP mode)
  • The Romi image is preconfigured as a WiFi Access Point network with SSID "WPILibPi-########", WPA2 passphrase "WPILib2021!", and default IP of 10.0.0.2
  • 32U4 firmware imaging through web dashboard

Getting Started

See https://docs.wpilib.org/en/stable/docs/software/vision-processing/wpilibpi/index.html (for the base image) or https://docs.wpilib.org/en/stable/docs/romi-robot/index.html (for the Romi) for visual step-by-step installation instructions and additional documentation.

  1. Download WPILibPi_image-2022.1.1.zip (or WPILibPi_image-2022.1.1-Romi.zip for the Romi image) and use Etcher (https://www.balena.io/etcher/) to image a micro SD card. The micro SD card needs to be at least 8 GB. Note: a micro SD to USB dongle such as https://www.amazon.com/gp/product/B0779V61XB works well for writing to micro SD cards.

  2. Put the micro SD card in a rPi and apply power. The initial boot may take as long as a couple of minutes (depending on SD card size), but later boots will be much faster (20 seconds or less).

Base image: Connect the rPi ethernet to a LAN or PC. Open a web browser and connect to http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

Romi image: Connect to the WiFi SSID "WPILibPi-########" (the number is unique based on the Pi's internal serial number), WPA2 passphrase "WPILib2021!". Open a web browser and connect to either http://10.0.0.2/ or http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

What's Changed Since 2021.3.1

  • Added udev rule for pixy by @PeterJohnson in #218
  • Round Romi gyro calibration time remaining by @carelesshippo in #208
  • Update to OpenCV 4.5.2
  • Update to WPILib 2022.4.1
  • RobotPy components updated to 2022
  • Use apt package for ML dependnecy

New Contributors

  • @jpokornyiii made their first contribution in #206
  • @carelesshippo made their first contribution in #208

Full Changelog: v2021.3.1...v2022.1.1

Hashes

MD5 Hashes

2ea374c15b8d93dd6ffe1105a5b79b41  cpp-multiCameraServer.zip
7080a5b98f3fa7f7597c0b17dbcff776  java-multiCameraServer.zip
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SHA256 Hashes

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Contributors

PeterJohnson, jpokornyiii, and ohowe1
Assets 7
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WPILibPi 2021.3.1 Release

13 Jun 22:41
@PeterJohnson PeterJohnson
v2021.3.1
c103e7d
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WPILibPi 2021.3.1 Release

About WPILibPi (formerly FRCVision)

This Raspbian-based Raspberry Pi image includes C++, Java, and Python libraries required for vision coprocessor development for FRC (e.g. opencv, cscore, ntcore, robotpy-cscore, pynetworktables, Java 11, etc). New for 2021, WPILibPi now comes in two variants, the "base" image for vision coprocessors, and an image designed for use with Pololu Romi 32U4 based robots.

The image has been tested with the Raspberry Pi 4 and 3B, but should also work on other models. Note: due to the mechanical mounting configuration of the Romi, there is minimal space for a heatsink on the Pi, so the 3 is recommended for Romi use.

Features

  • Web dashboard for configuring the rPi (e.g. changing network settings), monitoring the vision program (console, restart), changing CameraServer and NetworkTables settings, and uploading vision processing applications, all without the need for SSH
  • Default application that performs simple streaming of multiple cameras as well as camera switching; the image is "plug and play" for FRC dashboard streaming (just set your team number in the rPi web dashboard)
  • Includes example C++, Java, and Python programs to use as a basis for vision processing code
  • Designed for robustness to hard power offs by defaulting the filesystem to read only mode; safe to power directly from the VRM without an external battery
  • Boots (power applied to vision program running) in less than 20 seconds
  • All wireless functionality disabled (both WiFi and Bluetooth), so legal for competition use out of the box.

Romi Features

  • Built-in WebSockets-based interface to robot code running on a desktop computer
  • Web-based configuration of WiFi networking; supports both bridge and AP mode (including DHCP server in AP mode)
  • The Romi image is preconfigured as a WiFi Access Point network with SSID "WPILibPi-########", WPA2 passphrase "WPILib2021!", and default IP of 10.0.0.2
  • 32U4 firmware imaging through web dashboard

Getting Started

See https://docs.wpilib.org/en/stable/docs/software/vision-processing/wpilibpi/index.html (for the base image) or https://docs.wpilib.org/en/stable/docs/romi-robot/index.html (for the Romi) for visual step-by-step installation instructions and additional documentation.

  1. Download WPILibPi_image-2021.3.1.zip (or WPILibPi_image-2021.3.1-Romi.zip for the Romi image) and use Etcher (https://www.balena.io/etcher/) to image a micro SD card. The micro SD card needs to be at least 8 GB. Note: a micro SD to USB dongle such as https://www.amazon.com/gp/product/B0779V61XB works well for writing to micro SD cards.

  2. Put the micro SD card in a rPi and apply power. The initial boot may take as long as a couple of minutes (depending on SD card size), but later boots will be much faster (20 seconds or less).

Base image: Connect the rPi ethernet to a LAN or PC. Open a web browser and connect to http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

Romi image: Connect to the WiFi SSID "WPILibPi-########" (the number is unique based on the Pi's internal serial number), WPA2 passphrase "WPILib2021!". Open a web browser and connect to either http://10.0.0.2/ or http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

What's Changed In This Release (since 2021.2.1)

Hashes

MD5 Hashes

844bbbc38451490b37b3587e85788139  cpp-multiCameraServer.zip
b159f2f88272b8d7d1a08b74e41d22f1  java-multiCameraServer.zip
585e5059382b87cecb49ec1508f189af  python-multiCameraServer.zip
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SHA256 Hashes

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Assets 7
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WPILibPi 2021.2.1 Release

19 Jan 05:20
@PeterJohnson PeterJohnson
v2021.2.1
5ae5603
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WPILibPi 2021.2.1 Release

About WPILibPi (formerly FRCVision)

This Raspbian-based Raspberry Pi image includes C++, Java, and Python libraries required for vision coprocessor development for FRC (e.g. opencv, cscore, ntcore, robotpy-cscore, pynetworktables, Java 11, etc). New for 2021, WPILibPi now comes in two variants, the "base" image for vision coprocessors, and an image designed for use with Pololu Romi 32U4 based robots.

The image has been tested with the Raspberry Pi 4 and 3B, but should also work on other models. Note: due to the mechanical mounting configuration of the Romi, there is minimal space for a heatsink on the Pi, so the 3 is recommended for Romi use.

Features

  • Web dashboard for configuring the rPi (e.g. changing network settings), monitoring the vision program (console, restart), changing CameraServer and NetworkTables settings, and uploading vision processing applications, all without the need for SSH
  • Default application that performs simple streaming of multiple cameras as well as camera switching; the image is "plug and play" for FRC dashboard streaming (just set your team number in the rPi web dashboard)
  • Includes example C++, Java, and Python programs to use as a basis for vision processing code
  • Designed for robustness to hard power offs by defaulting the filesystem to read only mode; safe to power directly from the VRM without an external battery
  • Boots (power applied to vision program running) in less than 20 seconds
  • All wireless functionality disabled (both WiFi and Bluetooth), so legal for competition use out of the box.

Romi Features

  • Built-in WebSockets-based interface to robot code running on a desktop computer
  • Web-based configuration of WiFi networking; supports both bridge and AP mode (including DHCP server in AP mode)
  • The Romi image is preconfigured as a WiFi Access Point network with SSID "WPILibPi-########", WPA2 passphrase "WPILib2021!", and default IP of 10.0.0.2
  • 32U4 firmware imaging through web dashboard

Getting Started

See https://docs.wpilib.org/en/stable/docs/software/vision-processing/wpilibpi/index.html (for the base image) or https://docs.wpilib.org/en/stable/docs/romi-robot/index.html (for the Romi) for visual step-by-step installation instructions and additional documentation.

  1. Download WPILibPi_image-2021.1.1.zip (or WPILibPi_image-2021.1.1-Romi.zip for the Romi image) and use Etcher (https://www.balena.io/etcher/) to image a micro SD card. The micro SD card needs to be at least 8 GB. Note: a micro SD to USB dongle such as https://www.amazon.com/gp/product/B0779V61XB works well for writing to micro SD cards.

  2. Put the micro SD card in a rPi and apply power. The initial boot may take as long as a couple of minutes (depending on SD card size), but later boots will be much faster (20 seconds or less).

Base image: Connect the rPi ethernet to a LAN or PC. Open a web browser and connect to http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

Romi image: Connect to the WiFi SSID "WPILibPi-########" (the number is unique based on the Pi's internal serial number), WPA2 passphrase "WPILib2021!". Open a web browser and connect to either http://10.0.0.2/ or http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

What's Changed In This Release (since 2021.1.1)

  • Romi: vision programs will now automatically connect NetworkTables to the robot program (#187)
  • Romi Web Service updated to 1.1.1
    • [breaking] IMU axes have been updated to follow NED + Right Hand Rule conventions
    • [bugfix] Fixed a bug in gyro calibration which resulted in incorrect offsets being calculated and saved
    • [feature] Gyro rate smoothing to help with accuracy
  • WPILib updated to 2021.2.1 (#188)
  • Added machine learning dependencies to image (#186)

Hashes

MD5 Hashes

25ab2f64465ac92b1a4fe538ff3e7066  cpp-multiCameraServer.zip
0f2eb54806add61d84dccd7dc6b5c0b0  java-multiCameraServer.zip
11dadc88c86c754d33006f95292ed4a7  python-multiCameraServer.zip
858b2dd0dac161ce6e8444fb09a033f4  WPILibPi_image-v2021.2.1-Romi.zip
15e1ad60d32f80aa3df2fd6c5c45364e  WPILibPi_image-v2021.2.1.zip

SHA256 Hashes

a34519bb0530acc226f0a03d81998812d27d2a2b1c263c19c71b69b3a30bd42c  cpp-multiCameraServer.zip
6c865df32429db778e19f75faf108aa53a4e5716962acb211529a861a4b2e503  java-multiCameraServer.zip
79dbf16817794a18fde57398eb047d588ca36b66f59a14ae35eab2dbbf75c7e3  python-multiCameraServer.zip
746d3ebf73188a9537aeb90cb2380eab134296aec9dead312de82d913ec58f20  WPILibPi_image-v2021.2.1-Romi.zip
f75671d02475b8dbec2dc69007b58df09b89ad70c49f58771218baba2fdc511f  WPILibPi_image-v2021.2.1.zip
Assets 7
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WPILib Pi Image 2021.1.1 Kickoff Release

06 Jan 07:34
@PeterJohnson PeterJohnson
v2021.1.1
b82bf3c
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WPILib Pi Image 2021.1.1 Kickoff Release

About WPILibPi (formerly FRCVision)

This Raspbian-based Raspberry Pi image includes C++, Java, and Python libraries required for vision coprocessor development for FRC (e.g. opencv, cscore, ntcore, robotpy-cscore, pynetworktables, Java 11, etc). New for 2021, WPILibPi now comes in two variants, the "base" image for vision coprocessors, and an image designed for use with Pololu Romi 32U4 based robots.

The image has been tested with the Raspberry Pi 4 and 3B, but should also work on other models. Note: due to the mechanical mounting configuration of the Romi, there is minimal space for a heatsink on the Pi, so the 3 is recommended for Romi use.

Features

  • Web dashboard for configuring the rPi (e.g. changing network settings), monitoring the vision program (console, restart), changing CameraServer and NetworkTables settings, and uploading vision processing applications, all without the need for SSH
  • Default application that performs simple streaming of multiple cameras as well as camera switching; the image is "plug and play" for FRC dashboard streaming (just set your team number in the rPi web dashboard)
  • Includes example C++, Java, and Python programs to use as a basis for vision processing code
  • Designed for robustness to hard power offs by defaulting the filesystem to read only mode; safe to power directly from the VRM without an external battery
  • Boots (power applied to vision program running) in less than 20 seconds
  • All wireless functionality disabled (both WiFi and Bluetooth), so legal for competition use out of the box.

Romi Features

  • Built-in WebSockets-based interface to robot code running on a desktop computer
  • Web-based configuration of WiFi networking; supports both bridge and AP mode (including DHCP server in AP mode)
  • The Romi image is preconfigured as a WiFi Access Point network with SSID "WPILibPi-########", WPA2 passphrase "WPILib2021!", and default IP of 10.0.0.2
  • 32U4 firmware imaging through web dashboard

Getting Started

See https://docs.wpilib.org/en/stable/docs/software/vision-processing/wpilibpi/index.html (for the base image) or https://docs.wpilib.org/en/stable/docs/romi-robot/index.html (for the Romi) for visual step-by-step installation instructions and additional documentation.

  1. Download WPILibPi_image-2021.1.1.zip (or WPILibPi_image-2021.1.1-Romi.zip for the Romi image) and use Etcher (https://www.balena.io/etcher/) to image a micro SD card. The micro SD card needs to be at least 8 GB. Note: a micro SD to USB dongle such as https://www.amazon.com/gp/product/B0779V61XB works well for writing to micro SD cards.

  2. Put the micro SD card in a rPi and apply power. The initial boot may take as long as a couple of minutes (depending on SD card size), but later boots will be much faster (20 seconds or less).

Base image: Connect the rPi ethernet to a LAN or PC. Open a web browser and connect to http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

Romi image: Connect to the WiFi SSID "WPILibPi-########" (the number is unique based on the Pi's internal serial number), WPA2 passphrase "WPILib2021!". Open a web browser and connect to either http://10.0.0.2/ or http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

What's Changed In This Release (since Beta 4)

  • Updated to WPILib 2021.1.1 release
  • Romi: Multiple firmware/websockets updates (e.g. motor/encoder inversion, gyro and accelerometer support)
  • Romi: Added ability to calibrate IMU and save offsets
  • Romi: Added WiFi channel options 10 and 11; changed default from 7 to 6
  • Romi: Set unique WiFi SSID on first boot
  • Fixed python-cscore installation
  • Fixed python-multiCameraServer example

What's Changed In This Release (since 2020.2.1)

  • Image and hostname renamed from FRCVision to WPILibPi
  • Addition of Romi image

MD5 Hashes

7aad7feb86c219f1b53258ff5ceba063  cpp-multiCameraServer.zip
d638a7270b77eb35f80cc27b70ecce13  java-multiCameraServer.zip
e7ec5c174aaa7070fee04343211effcf  python-multiCameraServer.zip
b418744466e9a10d1a07683dad87bade  WPILibPi_image-v2021.1.1_2021-01-03-Romi.zip
6de1c527b9fae3c189090df849c11d51  WPILibPi_image-v2021.1.1_2021-01-03.zip

SHA256 Hashes

9ddbf1d3ec60bf88a88507afa101a25ed79d93a80eae47a465e5d7cf210645c5  cpp-multiCameraServer.zip
49b495dcdfe8603d19f5974c75d252f212cb3d137d7d7b2b4544443750b67380  java-multiCameraServer.zip
ef6ab97de004ce1a91af9458e7c9dd24b7ef76f9f739f8b6a34f80dbbffda8c3  python-multiCameraServer.zip
bee22345a2065aad6aa0ebe3c7cd9ad686e1889f87e5d466db411779873f7fa9  WPILibPi_image-v2021.1.1_2021-01-03-Romi.zip
b7a55d8e6c2f3c131c96e55170e0b3af774fbf07775ae33ca03755e600fff907  WPILibPi_image-v2021.1.1_2021-01-03.zip
Assets 7
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WPILibPi 2021.1.1-beta-4

12 Dec 01:50
@PeterJohnson PeterJohnson
v2021.1.1-beta-4
448c972
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WPILibPi 2021.1.1-beta-4 Pre-release
Pre-release

About WPILibPi (formerly FRCVision)

This Raspbian-based Raspberry Pi image includes C++, Java, and Python libraries required for vision coprocessor development for FRC (e.g. opencv, cscore, ntcore, robotpy-cscore, pynetworktables, Java 11, etc). New for 2021, WPILibPi now comes in two variants, the "base" image for vision coprocessors, and an image designed for use with Pololu Romi 32U4 based robots.

The image has been tested with the Raspberry Pi 4 and 3B, but should also work on other models. Note: due to the mechanical mounting configuration of the Romi, there is no space for a heatsink on the Pi, so the 3 is recommended for Romi use.

Features

  • Web dashboard for configuring the rPi (e.g. changing network settings), monitoring the vision program (console, restart), changing CameraServer and NetworkTables settings, and uploading vision processing applications, all without the need for SSH
  • Default application that performs simple streaming of multiple cameras as well as camera switching; the image is "plug and play" for FRC dashboard streaming (just set your team number in the rPi web dashboard)
  • Includes example C++, Java, and Python programs to use as a basis for vision processing code
  • Designed for robustness to hard power offs by defaulting the filesystem to read only mode; safe to power directly from the VRM without an external battery
  • Boots (power applied to vision program running) in less than 20 seconds
  • All wireless functionality disabled (both WiFi and Bluetooth), so legal for competition use out of the box.

Romi Features

  • Built-in WebSockets-based interface to robot code running on a desktop computer
  • Web-based configuration of WiFi networking; supports both bridge and AP mode (including DHCP server in AP mode)
  • The Romi image is preconfigured as a WiFi Access Point network with SSID "WPILibPi", WPA2 passphrase "WPILib2021!", and default IP of 10.0.0.2
  • 32U4 firmware imaging through web dashboard

Getting Started

See https://docs.wpilib.org/en/latest/docs/software/vision-processing/frcvision/what-you-need-to-get-the-pi-image-running.html for visual step-by-step installation instructions and additional documentation.

  1. Download WPILibPi_image-2021.1.1-beta-4.zip (or WPILibPi_image-2021.1.1-beta-4-Romi.zip for the Romi image) and use Etcher (https://www.balena.io/etcher/) to image a micro SD card. The micro SD card needs to be at least 8 GB. Note: a micro SD to USB dongle such as https://www.amazon.com/gp/product/B0779V61XB works well for writing to micro SD cards.

  2. Put the micro SD card in a rPi and apply power. The initial boot may take as long as a couple of minutes (depending on SD card size), but later boots will be much faster (20 seconds or less).

Base image: Connect the rPi ethernet to a LAN or PC. Open a web browser and connect to http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

Romi image: Connect to the WiFi SSID "WPILibPi", WPA2 passphrase "WPILib2021!". Open a web browser and connect to either http://10.0.0.2/ or http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

What's Changed In This Release (since Beta 3)

  • Add ability to update Romi service. This enables updating to new Romi releases without reimaging the entire SD card.
  • Change Romi WebSockets to 3300 to match WPILib Beta 4 port number change

What's Changed In This Release (since Beta 1)

  • Add ability to read/write Romi IO configuration
  • Display Romi battery voltage and service version
  • Update to WPILib Beta 3 libraries

What's Changed In This Release (since 2020.2.1)

  • Image and hostname renamed from FRCVision to WPILibPi
  • Addition of Romi image
  • Updated to latest WPILib 2021 beta libraries
Assets 4
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WPILibPi 2021.1.1-beta-3

06 Dec 07:43
@PeterJohnson PeterJohnson
v2021.1.1-beta-3
bec26e9
This commit was created on GitHub.com and signed with GitHub’s verified signature. The key has expired.
GPG key ID: 4AEE18F83AFDEB23
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WPILibPi 2021.1.1-beta-3 Pre-release
Pre-release

About WPILibPi (formerly FRCVision)

This Raspbian-based Raspberry Pi image includes C++, Java, and Python libraries required for vision coprocessor development for FRC (e.g. opencv, cscore, ntcore, robotpy-cscore, pynetworktables, Java 11, etc). New for 2021, WPILibPi now comes in two variants, the "base" image for vision coprocessors, and an image designed for use with Pololu Romi 32U4 based robots.

The image has been tested with the Raspberry Pi 4 and 3B, but should also work on other models. Note: due to the mechanical mounting configuration of the Romi, there is no space for a heatsink on the Pi, so the 3 is recommended for Romi use.

Features

  • Web dashboard for configuring the rPi (e.g. changing network settings), monitoring the vision program (console, restart), changing CameraServer and NetworkTables settings, and uploading vision processing applications, all without the need for SSH
  • Default application that performs simple streaming of multiple cameras as well as camera switching; the image is "plug and play" for FRC dashboard streaming (just set your team number in the rPi web dashboard)
  • Includes example C++, Java, and Python programs to use as a basis for vision processing code
  • Designed for robustness to hard power offs by defaulting the filesystem to read only mode; safe to power directly from the VRM without an external battery
  • Boots (power applied to vision program running) in less than 20 seconds
  • All wireless functionality disabled (both WiFi and Bluetooth), so legal for competition use out of the box.

Romi Features

  • Built-in WebSockets-based interface to robot code running on a desktop computer
  • Web-based configuration of WiFi networking; supports both bridge and AP mode (including DHCP server in AP mode)
  • The Romi image is preconfigured as a WiFi Access Point network with SSID "WPILibPi", WPA2 passphrase "WPILib2021!", and default IP of 10.0.0.2
  • 32U4 firmware imaging through web dashboard

Getting Started

See https://docs.wpilib.org/en/latest/docs/software/vision-processing/frcvision/what-you-need-to-get-the-pi-image-running.html for visual step-by-step installation instructions and additional documentation.

  1. Download WPILibPi_image-2021.1.1-beta-3.zip (or WPILibPi_image-2021.1.1-beta-3-Romi.zip for the Romi image) and use Etcher (https://www.balena.io/etcher/) to image a micro SD card. The micro SD card needs to be at least 8 GB. Note: a micro SD to USB dongle such as https://www.amazon.com/gp/product/B0779V61XB works well for writing to micro SD cards.

  2. Put the micro SD card in a rPi and apply power. The initial boot may take as long as a couple of minutes (depending on SD card size), but later boots will be much faster (20 seconds or less).

Base image: Connect the rPi ethernet to a LAN or PC. Open a web browser and connect to http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

Romi image: Connect to the WiFi SSID "WPILibPi", WPA2 passphrase "WPILib2021!". Open a web browser and connect to either http://10.0.0.2/ or http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

What's Changed In This Release (since Beta 1)

  • Add ability to read/write Romi IO configuration
  • Display Romi battery voltage and service version
  • Update to WPILib Beta 3 libraries

What's Changed In This Release (since 2020.2.1)

  • Image and hostname renamed from FRCVision to WPILibPi
  • Addition of Romi image
  • Updated to latest WPILib 2021 beta libraries
Assets 4
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WPILibPi 2021.1.1 Beta 1

19 Nov 17:35
@PeterJohnson PeterJohnson
v2021.1.1-beta-1
eff48d0
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WPILibPi 2021.1.1 Beta 1 Pre-release
Pre-release

About WPILibPi (formerly FRCVision)

This Raspbian-based Raspberry Pi image includes C++, Java, and Python libraries required for vision coprocessor development for FRC (e.g. opencv, cscore, ntcore, robotpy-cscore, pynetworktables, Java 11, etc). New for 2021, WPILibPi now comes in two variants, the "base" image for vision coprocessors, and an image designed for use with Pololu Romi 32U4 based robots.

The image has been tested with the Raspberry Pi 4 and 3B, but should also work on other models. Note: due to the mechanical mounting configuration of the Romi, there is no space for a heatsink on the Pi, so the 3 is recommended for Romi use.

Features

  • Web dashboard for configuring the rPi (e.g. changing network settings), monitoring the vision program (console, restart), changing CameraServer and NetworkTables settings, and uploading vision processing applications, all without the need for SSH
  • Default application that performs simple streaming of multiple cameras as well as camera switching; the image is "plug and play" for FRC dashboard streaming (just set your team number in the rPi web dashboard)
  • Includes example C++, Java, and Python programs to use as a basis for vision processing code
  • Designed for robustness to hard power offs by defaulting the filesystem to read only mode; safe to power directly from the VRM without an external battery
  • Boots (power applied to vision program running) in less than 20 seconds
  • All wireless functionality disabled (both WiFi and Bluetooth), so legal for competition use out of the box.

Romi Features

  • Built-in WebSockets-based interface to robot code running on a desktop computer
  • Web-based configuration of WiFi networking; supports both bridge and AP mode (including DHCP server in AP mode)
  • The Romi image is preconfigured as a WiFi Access Point network with SSID "WPILibPi", WPA2 passphrase "WPILib2021!", and default IP of 10.0.0.2
  • 32U4 firmware imaging through web dashboard

Getting Started

See https://docs.wpilib.org/en/latest/docs/software/vision-processing/frcvision/what-you-need-to-get-the-pi-image-running.html for visual step-by-step installation instructions and additional documentation.

  1. Download WPILibPi_image-2021.1.1-beta-1.zip (or WPILibPi_image-2021.1.1-beta-1-Romi.zip for the Romi image) and use Etcher (https://www.balena.io/etcher/) to image a micro SD card. The micro SD card needs to be at least 8 GB. Note: a micro SD to USB dongle such as https://www.amazon.com/gp/product/B0779V61XB works well for writing to micro SD cards.

  2. Put the micro SD card in a rPi and apply power. The initial boot may take as long as a minute, but later boots will be much faster (20 seconds or less).

Base image: Connect the rPi ethernet to a LAN or PC. Open a web browser and connect to http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

Romi image: Connect to the WiFi SSID "WPILibPi", WPA2 passphrase "WPILib2021!". Open a web browser and connect to either http://10.0.0.2/ or http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

What's Changed In This Release (since 2020.2.1)

  • Image and hostname renamed from FRCVision to WPILibPi
  • Addition of Romi image
  • Updated to latest WPILib 2021 beta libraries
Assets 4
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