roboy_matrix

The following instructions will lead you through the setup process for all the modules deployed on the Roboy's Raspberry Pi.

Pre-requisites

1. Get the image with Rasbian from here

user: pi
password: raspberry

2. Install ROS Kinetic. Follow installation instructions from the ROS Wiki

Pi Setup

Currently we are using Matrix Creator kernel modules to read/wirte sensor data from the board. The modules are kernel drivers and therefore one can get the data directly usring regmap or libiio.

1. In case you used a fresh image of Raspbian, follow these instructions. Otherwise, if the image mentioned above was used:

sudo apt update
sudo apt upgrade
cd ~/matrix-kernel-modules
git pull origin master
cd src
make && make install
sudo reboot

2. Add matrix kernel modules to /etc/modules, which should contain:

matrixio-regmap
matrixio-everloop
matrixio-gpio
matrixio-imu
matrixio-env

3. Add overlay:

echo "dtoverlay=matrixio" | sudo tee -a /boot/config.txt

Test

• Check if Matrix Creator kernel modules are enabled:

ls -l /dev/matrix_*

The output should include matrix_everloopand matrix_regmap.

• Record an audio sample from the microphone array:

cd ~/
arecord --duration 5 --rate 16000 --format S16_LE test.wav && aplay ./test.wav

Use

Clone the repository to your catkin workspace and build it:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/Roboy/roboy_matrix.git
cd ..
catkin_make

Start required nodes, for example the following will run roboy_speech_synthesis, roboy_speech_recognition, and led_control:

source ~/catkin_ws/devel/setup.bash
roslaunch roboy_cognition_manager pi.launch

Look for the topics/services you need in the output of rostopic list and rosservice list.