Install from Scratch on a Raspberry-Pi

This guide describe how we generate our ISO. Its main use is for us to keep it up-to-date and always accessible for our team. You can freely use it and adapt it to your needs but we don't intend to explain every details here.

Prepare the Raspberry-Pi

• Burn an SD-Card (16Go or more) using Raspbian Buster with desktop - February 2020.
• Make sure to allow ssh (touch ssh on the boot partition) or directly work from the Pi board using a mouse, keyboard and screen.
• Power your Raspberry-Pi and connect it to internet via Ethernet (WiFi is not configure at this point).
• Once booted, connect to it using ssh and the pi login (ssh pi@raspberrypi.local password raspberry)

Raspi-config

Once booted and logged in the Raspberry-Pi, we need to run raspi-config to setup few things. So, on the Pi bash run sudo raspi-config (We will give the number/letter corresponding to the entry item for each command below)

• Change user password to reachy: 1
• Change hostname to reachy: 2-N1
• Turn on WiFi (you can set the country and your own WiFi if you want but this is not necessary) 2-N2-Cancel-Cancel-
• Finish and reboot

Install Reachy needed software

• Reconnect ssh pi@reachy.local (password reachy)
• Create our own work folder mkdir dev and cd dev
• Clone Reachy software: git clone https://github.com/pollen-robotics/reachy
• Checkout latest release cd reachyand git checkout tags/v1.3.0
• Install atlas for scipy: sudo apt install -y libatlas-base-dev
• Install deps for opencv: sudo apt install -y libhdf5-dev libhdf5-serial-dev libhdf5-103 libqtgui4 libqtwebkit4 libqt4-test python3-pyqt5 libatlas-base-dev libjasper-dev
• Install Reachy dependencies using the system python3: pip3 install -r ~/dev/reachy/software/requirements.txt
• Install Reachy software using the system python3: pip3 install -e ~/dev/reachy/software
• Get the Access Point and dashboard libraries: cd ~/devand git clone https://github.com/pollen-robotics/RAP
• Install them: cd ~/dev/RAP/ and sudo bash install.sh (Say Yes both time when asked during install)

Setup Coral toolkit

(see https://coral.ai/docs/accelerator/get-started/)

• echo "deb https://packages.cloud.google.com/apt coral-edgetpu-stable main" | sudo tee /etc/apt/sources.list.d/coral-edgetpu.list
• curl https://packages.cloud.google.com/apt/doc/apt-key.gpg | sudo apt-key add -
• sudo apt-get update
• sudo apt install libedgetpu1-std python3-edgetpu
• pip3 install https://dl.google.com/coral/python/tflite_runtime-2.1.0.post1-cp37-cp37m-linux_armv7l.whl
• cd ~/dev
• mkdir coral && cd coral
• git clone https://github.com/google-coral/tflite.git
• cd tflite/python/examples/classification
• bash install_requirements.sh
• sudo apt-get install python3-edgetpu edgetpu-examples

Install extra stuff

• Install IPython, Jupyter, Matplotlib: pip3 install ipython jupyter matplotlib
• Setup ipywidgets:
  • pip3 install ipywidgets
  • /home/pi/.local/bin/jupyter nbextension enable --py widgetsnbextension
• Install dfu-util: sudo apt install dfu-util

Check if everything is fine

• Reboot
• Connect to reachy access point (SSID: Reachy-AP)
• Connect to the dashboard: http://reachy.local

Generate ISO

• You will need another Raspberry-Pi with lots of space (64Go) to do that
• Connect the reachy SD-card to the other Raspberry PI (using an USB adaptor)
• Create an img using dd (check the disk number using sudo fdisk -l): sudo dd bs=4M if=/dev/sda of=reachy-$(date +%F).img conv=fsync
• download shrink: wget https://raw.githubusercontent.com/Drewsif/PiShrink/master/pishrink.sh
• Run sudo bash pishrink.sh -pz reachy-$(date +%F).img
• Share the create compressed img!