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If you want to make changes to a RPI which is already set up, you have to remount the read-only filesystem. |
- Install Raspbian Lite
Change password by using
:Code Block language bash passwd piActivate SSH
:sudo systemctl enable sshand sudo systemctl startCode Block language bash sudo systemctl enable ssh sudo systemctl start ssh
- Install and configure NTP
Install tmux
: sudo apt installCode Block language bash sudo apt install tmux
- "Install" the RTI Connext libraries under
/usr/local/lib/by copying the arm-folder from the Main PC underopt/rti_connext_dds-6.0.0/lib/armv6vfphLinux3.xgcc4.7.2/. This can of course only be done after the ARM libraries have been installed on the Main Computer.
It should look like this afterward:
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pi@raspberrypi-06:~ $ find /usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/ |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/ |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppd.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscd.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpzd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2z.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppz.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringd.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcp.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2d.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringz.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpd.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscz.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppzd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsc.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpz.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcpp.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscore.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringzd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscorez.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppz.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscored.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppd.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsjava.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2zd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsczd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscorezd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsjavad.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoring.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcz.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppzd.a |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlc.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcd.so |
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/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlczd.a |
'Register' the Libraries
Make the libraries available. Insert /usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2 into /etc/ld.so.conf. Then run
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sudo ldconfig |
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Configure Bootup Behaviour
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In order to make NTP working properly with a read-only filesystem, it is also necessary to copy the following file
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cp /lib/systemd/system/ntp.service /etc/systemd/system/ntp.service |
and to comment out PrivateTmp=true in
/etc/systemd/system/ntp.service
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If you need writing access to the file system, you can use (dependent on the folder you need access to)
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to remount the system. |
Applying RT-Patch
Because the vehicle needs to be real-time capable, a real-time patch (RT-Patch) should be applied to the underlying Linux Kernel.
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In order to create identical vehicles it might be useful to clone the SD-cards by using Clonezilla. Afterwards, only the ID-Related Settings have to be adapted at the cloned SD-card.
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