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OpenROV ROVision

"OpenROV is a DIY telerobotics community centered around underwater exploration & adventure." One goal of OpenROV is to have onboard video for live viewing as the user operates the ROV. Enter: ROVision.

Introduction

We designed the onboard video platform using several key technologies:

Combining these great technologies provides a lot of power and room for future growth. But is also provides well documented means to extend OpenROV. With Node.js and Socket.io, not only are we able to stream video to a web browser by updating an image, but we are also able to control the ROV and view valuable sensor information. This is just the beginning.

Requirements

Installation

Step 1

a) Install 12.04 Ubuntu

b) Plug into router

c) Find IP address (look through your router or something...) - I'm calling it IP

Step 2

Change the user name and password.

Login as default user (ubuntu):

ssh -l ubuntu __IP__
(pass) temppwd

Then change to root:

su
(pass) root

Add a temporary user:

useradd -m temp
passwd temp
(pass) temppwd
adduser temp sudo

Switch to temp user then change primary account name/password:

logout

(if ubuntu still logged in: su, then: pkill -KILL -u ubuntu)

ssh -l temp __IP__
su
usermod -l rov -m -d /home/rov ubuntu
passwd rov
(pass) OpenROV
exit
exit

Login as new user (rov):

ssh -l rov __IP__
(pass) OpenROV

Delete temporary user:

su
userdel -r temp
vi /etc/hostname

Change from "arm" (without quotes) to "openrov-XXXX" (without quotes) - where XXXX is your serial number.

vi /etc/hosts
exit

Change from "arm" (without quotes) to "openrov-XXXX" (without quotes) - where XXXX is your serial number.

reboot

Step 3

Update/upgrade software and install rerequisits (holy moly, there're packages!):

sudo apt-get update
sudo apt-get install g++ curl pkg-config libv4l-dev libjpeg-dev build-essential libssl-dev vim cmake

Step 4

Install nvm (Node Version Manager):

git clone git://github.com/creationix/nvm.git ~/.nvm
echo ". ~/.nvm/nvm.sh" >> .bashrc
echo "export LD_LIBRARY_PATH=/usr/local/lib" >> .bashrc
echo "export PATH=$PATH:/opt/node/bin" >> .bashrc

And make those changes work now:

source ~/.bashrc

Step 5

Try to install Node.js (it will not compile V8 properly):

nvm install v0.8.11

Step 6

Fix V8 to compile (very sketchy right now):

==================================

Find this file for editing:

~/.nvm/src/node-v0.8.11/deps/v8/build/common.gypi

Add:

    {
      'variables': {
+        'arm_neon%': '1',
        'use_system_v8%': 0,

==================================

Step 7

From ~/.nvm/src/node-v0.8.11 directory, actually install Node.js:

./configure
make
sudo make install

echo "nvm use v0.8.11" >> .bashrc

Step 8

Install OpenCV (this will take FOREVER!):

Download OpenCV:

 git clone git://code.opencv.org/opencv.git ~/.opencv

Prepare OpenCV for make:

cd ~/.opencv
mkdir release && cd release

Build OpenCV:

cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_TESTS=OFF -D BUILD_EXAMPLES=ON ..

Make and install OpenCV:

make && sudo make install

Step 9

Download OpenROV ROVision:

cd ~
git clone git://github.com/OpenROV/openrov-software.git
cd openrov-software/

Change to development branch:

git checkout development

edit ~/.bashrc, add:

export LD_LIBRARY_PATH=/usr/local/lib

You'll need to restart your shell:

source ~/.bashrc

Step 10

Download modules:

npm install express socket.io serialport

Step 11

Compile the capture C++ file:

cd src/
g++ capture.cpp -o capture `pkg-config opencv --cflags --libs`

Step 12

To enable the UART1 on every boot, you need to add some lines to /etc/rc.local (you need to be su):

Copy etc/rc.local to your /etc/ and replace the one there.

That will not only enable UART1 after boot, but also remove references to your MAC so you can swap the SD card to another BeagleBone (trust me, this is handy).

Go ahead and restart at this point.

Step 13

Try it out!

node app

Future

We have so much more planned. Imagine being able to track a fish, or map underwater environments in 3D, or coordinate multiple ROV's using vision, or whatever you can imagine! Please fork & play. We'd love to see what you create.

License

MIT License

Copyright (C) 2012 Bran Sorem

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.