Now that I have a Pi-5 AND a robot to experiment with, I’d like to take a crack at building a GoPiGo OS version that will run on the Pi-5, since it’s a lead-pipe cinch that people are going to want to go there.
Aside from questions about my sanity, , I am interested in a concise statement of what is necessary to install the GoPiGo libraries on a Pi-4, including any special tweaks, tricks and “gotchas” that might be useful to know.
Thanks!
(Sound bite: They’re coming to take me away hee hee, has haa, ho ho! Those nice young men in their clean white coats. . . .)
Remove GoPiGo3 software I2C (depends on wiringpi not avail on bookworm)
Run individual setup.py to build the GoPiGo3 Python3 dist eggs
Update distance_sensor and easy_distance_sensor code to default to hardware I2C
Run basic GoPiGo3 tests
All the “setup.py” files and source changes needed are here.
Since I installed Bullseye and upgraded to Bookworm before installing the GoPiGo3 software, this is the relevant part of the process from my setup log:
wget https://github.com/joan2937/pigpio/archive/master.zip
unzip master.zip
cd pigpio-master
make
sudo make install
cd ..
rm master.zip
mkdir config
cd config
wget https://raw.githubusercontent.com/slowrunner/ROS2-GoPiGo3/main/utils/pigpiod.service
sudo cp pigpiod.service /etc/systemd/system
sudo systemctl enable pigpiod.service
sudo systemctl start pigpiod.service
systemctl status pigpiod.service
wget https://raw.githubusercontent.com/slowrunner/ROS2-GoPiGo3/main/utils/99-com.rules
=== setup RFR_Tools
sudo git clone https://github.com/DexterInd/RFR_Tools.git /home/pi/Dexter/lib/Dexter/RFR_Tools
sudo apt install -y libffi-dev
cd /home/pi/Dexter/lib/Dexter//RFR_Tools/miscellaneous/
sudo nano di_i2c.py -> comment out all RPI_1SW, wiringpi, class DI_I2C_RPI_SW
sudo python3 setup.py install
The GoPiGo3 depends on wiringpi , which has not been updated for the RP1 I/O controller of the Raspberry Pi 5 (and Bookworm). This is the major hurdle
== Details ==
I got Dexter_AutoDetection_and_I2C_Mutex-1.3.2-py3.11.egg built and installed.
GoPiGo3 depends on wiringpi which fails build/install:
Running wiringpi-2.60.1/setup.py -q bdist_egg --dist-dir /tmp/easy_install-qxc_o8le/wiringpi-2.60.1/egg-dist-tmp-9w9i89c3
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
.
.
File "/usr/lib/python3/dist-packages/setuptools/command/install_lib.py", line 17, in finalize_options
self.set_undefined_options('install',('install_layout','install_layout'))
File "/usr/lib/python3/dist-packages/setuptools/_distutils/cmd.py", line 296, in set_undefined_options
setattr(self, dst_option, getattr(src_cmd_obj, src_option))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/lib/python3/dist-packages/setuptools/_distutils/cmd.py", line 107, in __getattr__
raise AttributeError(attr)
AttributeError: install_layout. Did you mean: 'install_platlib'?
pip install spidev --break-system-packages
cd /home/pi/Dexter/GoPiGo3/Software/Python
nano setup.py
install_requires = ['pigpio']
)
# install_requires = ['spidev', 'pigpio']
sudo python3 setup.py install
cd /home/pi/Dexter/DI_Sensors/Python
sudo nano di_sensors/easy_distance_sensor.py
#def __init__(self, port="I2C", use_mutex=False):
# use hardware i2c for bookworm
def __init__(self, port="RPI_1", use_mutex=False):
sudo nano di_sensors/distance_sensor.py
#def __init__(self, bus = "RPI_1SW"):
# Use hardware i2c for bookworm
def __init__(self, bus = "RPI_1"):
"""
Constructor for initializing a :py:class:`~di_sensors.distance_sensor.DistanceSensor` class.
#:param str bus = "RPI_1SW": The bus to which the distance sensor is connected to. By default, it's set to bus ``"RPI_1SW"``. Check the :ref:`hardware specs <hardware-interface-section>` >
# use RPI_1 hardware i2c for bookworm
:param str bus = "RPI_1": The bus to which the distance sensor is connected to. By default, it's set to bus ``"RPI_1"``. Check the :ref:`hardware specs <hardware-interface-section>` for m>
sudo python3 setup.py install
sudo apt install -y espeak-ng
pip3 install py-espeak-ng --break-system-packages
espeak-ng "Am I alive? Can you hear me?"
# Install ffmpeg to allow ffplay to play tts from espeak-ng -w file
# already installed: sudo apt install -y ffmpeg
$ sudo reboot
(Note green pwr LED will be solid after this indicating gpg3_power.service is running)
(Note red/green "yellow" WiFi LED means connected to WiFi)
Test GoPiGo3 Software Installation
$ cd Dexter/GoPiGo3/Software/Examples
$ ./Read_Info.py
pi@64BitPiOS:~/Dexter/GoPiGo3/Software/Python/Examples $ ./Read_Info.py
Traceback (most recent call last):
File "/home/pi/Dexter/GoPiGo3/Software/Python/Examples/./Read_Info.py", line 17, in <module>
import gopigo3 # import the GoPiGo3 drivers
ModuleNotFoundError: No module named 'gopigo3'
python3 /home/pi/Dexter/GoPiGo3/Software/Python/Examples/LED.py <<---- Works
python3 /home/pi/Dexter/GoPiGo3/Software/Python/Examples/Servo.py <<---- WORKS!
python3 /home/pi/Dexter/GoPiGo3/Software/Python/Examples/Motor_Turn.py <<--- WORKS oh wow...
python3 /home/pi/Dexter/GoPiGo3/Software/Python/Examples/easy_Distance_Sensor.py
python ~/Dexter/GoPiGo3/Software/Python/Examples/Grove_US2.py
$ ./Motors.py
$ ./Servo.py
$ ./Grove_US2.py (with Grove Ultrasonic Ranger in AD1 for time being)
$ ./easy_Distance_Sensor.py
$ python3 ~/Dexter/DI_sensors/Python/Examples/IMUSensor.py
(Put IMU in AD1, move Grove US ranger to AD2 and
change Grove_US.py GPG.GROVE_1 to GPG.GROVE_2 two places)
, I am interested in a concise statement of what is necessary to install the GoPiGo libraries on a Pi-4, including any special tweaks, tricks and “gotchas” that might be useful to know.