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作者：菜鸟追梦旅行 | 2024-02-12 14:52:39

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自用网站链接

树莓派学习

制作树莓派镜像

制作树莓派SD卡备份镜像——树莓派系统备份与还原指南_树莓派sd卡镜像制作_kzmw的博客-CSDN博客

树莓派设置固定ip

网络共享给树莓派的网口，然后利用IP scanner扫描识别树莓派的ip(具体方法参考下面给的链接)

远程登陆树莓派,使用ssh pi@192.168.137.166 进行远程登录即可

设置静态路由

编辑 /etc/dhcpcd.conf


interface eth0
 
static ip_address=192.168.137.20/24
static routers=192.168.137.1
static domain_name_servers=114.114.114.114
 
# WIFI 部分
# interface wlan0
 
# static ip_address=192.168.43.200/24
# static routers=192.168.43.1
# static domain_name_servers=114.114.114.114

static domain_name_servers=114.114.114.114

用一根网线连接树莓派跟pc_树莓派网线连接电脑_linxinloningg的博客-CSDN博客

怎样设置树莓派的IP地址为静态值_树莓派设置静态ip_舞动的白杨的博客-CSDN博客

树莓派摄像头学习

注意树莓派摄像头使用的时候，不要随便热插拔，需要在树莓派，关机的时候进行

在树莓派上驱动CSI摄像头_树莓派csi_☞黑心萝卜三条杠☜的博客-CSDN博客

【树莓派-入门】树莓派Zero W利用Raspberry Pi Imager烧录系统+开机连接（2022-04-04 Raspberry Pi OS Bullseye）_树莓派zerow刷入街机系统_完完全全很菜的博客-CSDN博客

树莓派摄像头模块(Pi Cam)的安装使用_南沐ヾ的博客-CSDN博客

树莓派通过raspi-config启动摄像头时，出错:Your firmwave appears to be out of date (no start_x.elf). Please update_ros漫步的博客-CSDN博客

树莓派4B+Ubuntu20.04 解决 sudo: raspi-config: command not found_SummerGao.的博客-CSDN博客

wifibro

基于wifibroadcast的无人机数字图传_qqNCer的博客-CSDN博客

基于Wifibroadcast的无人机数字图传2_qqNCer的博客-CSDN博客

OpenHD改造实现廉价高清数字图传(树莓派+PC)—（二）Wifibroadcast Wifi广播通信_hoopertsau的博客-CSDN博客

NetworkManager服务（nmcli）_nerwork-manager_大数据老司机的博客-CSDN博客

ubuntu18.04 无限网wifi unmanaged解决方法_coder攻城狮的博客-CSDN博客

Long-distance Data-link using WiFi in Raw Mode | PX4 自动驾驶用户指南

GitHub - svpcom/wfb-ng: WFB-NG - the next generation of long-range packet radio link based on raw WiFi radio

OpenHD改造实现廉价高清数字图传(树莓派+PC)—（二）Wifibroadcast Wifi广播通信_hoopertsau的博客-CSDN博客

wifibroadcast 使用方法

gs端

fzp-pi 连接无线网卡（连接在右下角的USB口，连接其他口可能会识别不出来网卡什么原因目前没有查出来）

第一次使用的流程

下载rtl8812au驱动


sudo apt-get install dkms
git clone -b v5.2.20 https://github.com/svpcom/rtl8812au.git
cd rtl8812au/
sudo ./dkms-install.sh

Make sure the driver is correctly installed by running the following command. You should see the WiFi card in an unmanaged state.
找出来无线网卡的名称比如 wlan0 wlan1

nmcli

Get the name of the WiFi card by running:

ifconfig

You should see output similar to:


wlan0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 2312
        ether 0c:91:60:0a:5a:8b  txqueuelen 1000  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

Copy the name of the RTL8812AU WiFi card.
Install wfb-ng. Replace wifi0with the previously copied name of the WiFi card.


git clone -b stable https://github.com/svpcom/wfb-ng.git
cd wfb-ng
//下面这一步执行别着急执行
sudo ./scripts/install_gs.sh wifi0

Done! To monitor the link use the following command on the ground station:

wfb-cli gs

Failing to get connection?

Make sure the WiFi channel on the ground and on the drone are the same. To check, use:

head /etc/wifibroadcast.cfg

You should see output similar to:


[common]
wifi_channel = 161     # 161 -- radio channel @5825 MHz, range: 5815–5835 MHz, width 20MHz
                       # 1 -- radio channel @2412 Mhz, 
                       # see https://en.wikipedia.org/wiki/L

# Install required packages 下面这两句子是用来更新系统的软件包的，最好注释掉
apt update
apt upgrade

下面一句是安装所需要的依赖的，如果不是第一次使用也最好注释掉

apt install python3-all libpcap-dev libsodium-dev python3-pip python3-pyroute2 \
python3-future python3-twisted python3-serial iw virtualenv debhelper dh-python build-essential -y

# Build 编译代码
make deb

制造加密的钥匙并复制到/etc/gs.key

手动将文件夹下的drone.key复制粘贴到 drone上树莓的/etc/drone.key

如果不是第一次执行，需要注释掉，不然需要重新移动drone.key

# Create key and copy to right location
./wfb_keygen
mv gs.key /etc/gs.key

# Install
dpkg -i deb_dist/*.deb

# Setup config 设置通信的信道
cat <<EOF >> /etc/wifibroadcast.cfg
[common]

wifi信道161，需要保证drone 和gs 的这个值是一样的
wifi_channel = 161 # 161 -- radio channel @5825 MHz, range: 5815–5835 MHz, width 20MHz
# 1 -- radio channel @2412 Mhz,
# see https://en.wikipedia.org/wiki/List_of_WLAN_channels for reference
wifi_region = 'BO' # Your country for CRDA (use BO or GY if you want max tx power)

[gs_mavlink]
peer = 'connect://127.0.0.1:14550' # outgoing connection
# peer = 'listen://0.0.0.0:14550' # incoming connection

[gs_video]
peer = 'connect://127.0.0.1:5600' # outgoing connection for
# video sink (QGroundControl on GS)
EOF

echo "WFB_NICS=\"${IFNAME}\"" > /etc/default/wifibroadcast

cat <<EOF >> /etc/NetworkManager/NetworkManager.conf
[keyfile]
unmanaged-devices=interface-name:${IFNAME}
EOF

if [ -f /etc/dhcpcd.conf ]; then
echo "denyinterfaces ${IFNAME}" >> /etc/dhcpcd.conf
fi

下面计局是启动地面站服务的

# Start gs service
systemctl daemon-reload
systemctl start wifibroadcast@gs

echo "Started wifibroadcast@gs"
systemctl status wifibroadcast@gs

如果不是第一次启动的话，直接使用下面

systemctl daemon-reload

//启动gs服务
systemctl start wifibroadcast@gs

echo "Started wifibroadcast@gs"

//输出gs服务的状态

systemctl status wifibroadcast@gs

用来调试的语句

Gstreamer视频传输测试gst-launch_wifibroadcast_meng_tianshi的博客-CSDN博客

FPV Camera(RPI3+V2.1) | wfb_ng Release 23.01 | ubuntu20.04 gnome软解测试_lida2003的博客-CSDN博客

drone端

无人机端就需要下载img，文件到sd卡里，远程连接，将drone.key放在/etc/drone.key里。

设置wifi信道和gs端一致

连接无线网卡，启动wifibroadcast@drone fpvcamera服务，

重启

ros web

目前遇到的问题

可以实现在网页上对ros进行操作，跨系统，局域网内，ros1 ros2都可以

目前ros_web遇到的问题是消息是自定义消息

ROSBridge简介以及理解使用（下）-阿里云开发者社区

ROSBridge简介以及理解使用（上）-阿里云开发者社区

需要将功能包里的全部换成ros标准消息
[rosbridge_websocket-1] [ERROR] [1691375688.729661076] [rosbridge_websocket]: [Client 9075c9b9-318d-498a-a8cb-1554d3c9596e] [id: subscribe:/imu:1] subscribe: Unable to impsh uav_msgs.msg from package uav_msgs. Caused by: No module named ' uav_msgs'

使用方法

ros2 launch /opt/ros/foxy/share/rosweb_server/launch/

...具体路径找一下

参考链接

我的AI之路(25)--ROSBridge：机器人与外部系统之间的通讯解决方案_rosbirdge udp通讯_Arnold-FY-Chen的博客-CSDN博客

https://github.com/RobotWebTools/rosbridge_suite

Robot Web Tools

rosbridge入门教程_rosbridge教程_wjydym的博客-CSDN博客

Status of Robot Web Tools for ROS2 - #2 by dirk-thomas - Next Generation ROS - ROS Discourse

rosbridge入门教程_rosbridge教程_wjydym的博客-CSDN博客

roslibjs/Tutorials/BasicRosFunctionality - ROS Wiki

Rosbridge系列2：初识Rosbridge--利用rosbridge实现网页控制小乌龟移动_dzjoke的博客-CSDN博客