RD Ambassador revival

[jgvictores]

From @jgvictores on June 15, 2018 16:3

RD Ambassador revival

Robot: https://github.com/asrob-uc3m/rd-ambassador (old permalink).

• Hardware: https://github.com/asrob-uc3m/robotDevastation-user-manual/tree/master/es/robots/rd-ambassador (permalink)
• Software: https://github.com/asrob-uc3m/yarp-devices/tree/develop/libraries/YarpPlugins/RaspiTwoPwmMotorController (permalink)

Prototype status:

• In medium-sized box

• Raspi 2 B no longer zip tied to chassis

• 8GB micro SDHC contains a working Raspian 7 Wheezy (UPDATE: now Raspian 9 Stretch, the one we wanted)

• We don't really know how connections go for the time being (UPDATE: connections safe thanks to pinout command at asrob-uc3m/robotDevastation-developer-manual@aafc7bd)

• Incorporate custom https://github.com/asrob-uc3m/robotDevastation-robots/tree/develop/scripts

Copied from original issue: asrob-uc3m/robotDevastation#136

[jgvictores]

WIP at asrob-uc3m/robotDevastation-robots#44

[jgvictores]

• 8GB micro SDHC contains a working Raspian 7 Wheezy, but we recommend Raspian 9 Stretch, on 7 we actually see cmake2 when on asrob yarp-devices we require cmake3.5.

Attaching pic of this 8GB micro SDHC (EDIT: Currently has Rasbian 9, which is the one we want, plus has some access point software as seen in asrob-uc3m/robotDevastation-robots#8 (comment) -> https://www.raspberrypi.org/documentation/configuration/wireless/access-point.md)

[jgvictores]

Had some issues cloning microSD via dd as commented in http://wiki.asrob.uc3m.es/index.php/Crear_SD_con_Raspbian_y_robotDevastation-robots/raspi_software_(avanzado:_de_cero) (pending wiki->gitbook migration at asrob-uc3m/robotDevastation-developer-manual#13). Seemed due to the fact that it is SDHC (shouldn't affect, simply seems like the issue).

[jgvictores]

Had some issues cloning microSD via dd as commented in http://wiki.asrob.uc3m.es/index.php/Crear_SD_con_Raspbian_y_robotDevastation-robots/raspi_software_(avanzado:_de_cero) (pending wiki->gitbook migration at asrob-uc3m/robotDevastation-developer-manual#13). Seemed due to the fact that it is SDHC (shouldn't affect, simply seems like the issue).

Attempting same via fsarchiver

1. To create .fsa, needed to compile from source to not have issue with file systems, then sudo fsarchiver savefs sd.fsa /dev/mmcblk0p1 /dev/mmcblk0p2
2. To extract .fsa, needed to manually create partitions on destination, then sudo fsarchiver restfs sd.fsa id=0,dest=/dev/mmcblk0p1 id=1,dest=/dev/mmcblk0p2
3. Running into hang at crng init done at boot. Help? https://lb.raspberrypi.org/forums/viewtopic.php?t=209093

[jgvictores]

3. Running into hang at crng init done at boot. Help? https://lb.raspberrypi.org/forums/viewtopic.php?t=209093

On the original microSD's /boot/cmdline.txt:

dwc_otg.lpm_enable=0 console=serial0,115200 console=tty1 root=PARTUUID=0682d61a-02 rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait

So, we can say that the PARTUUID is hard-coded from the boot device to match that of the rootfs device, as from sudo blkid:

/dev/mmcblk0p1: LABEL="boot" UUID="16D2-035F" TYPE="vfat" PARTUUID="0682d61a-01"
/dev/mmcblk0p2: LABEL="rootfs" UUID="d065e631-6b9d-48c0-a8fe-e663b42828e0" TYPE="ext4" PARTUUID="0682d61a-02"

[jgvictores]

On the original microSD's /boot/cmdline.txt:

Edited the copy's /boot/cmdline.txt to match the new PARTUUID. Ran into [FAILED] Failed to start Remount Root and Kernel File Systems

[jgvictores]

Edited the copy's /boot/cmdline.txt to match the new PARTUUID. Ran into [FAILED] Failed to start Remount Root and Kernel File Systems

In addition, another message seems to indicate PARTUUID of old root is also hard-coded somewhere.

[jgvictores]

Via sudo fdisk /dev/mmcblk0 (thanks https://www.raspberrypi.org/forums/viewtopic.php?t=191775):

p
x
i
0x${PTUUID} <--- without the -01/-02 suffix
r
p
w

Could updated the PARTUUID and boots!