Installing PhotonVision on a Romi

The Romi is a small robot that can be controlled with the WPILib software. The main controller is a Raspberry Pi that must be imaged with WPILibPi .

Installation

SSH into the Raspberry Pi (using a tool like Putty ) at the Romi’s default address 10.0.0.2. The default user is pi, and the password is raspberry.

Follow the process for installing PhotonVision on “Other Debian-Based Co-Processor Installation”. As it mentions this will require an internet connection so plugging into the ethernet jack on the Raspberry Pi will be the easiest solution.

The WPILibPi image includes FRCVision which reserves USB cameras by default so we need to edit the /home/pi/runCamera script to disable it. First we will need to make the file system writeable, the easiest way to do this is to go to 10.0.0.2 and choose “Writable” at the top.

Next from the SSH terminal run sudo nano /home/pi/runCamera then arrow down to the start of the exec line and press “Enter” to add a new line. Then add # before the exec command to comment it out. Then arrow up to the new line and type sleep 10000. Hit “Ctrl + O” and then “Enter” to save the file. Finally press “Ctrl + X” to exit nano. Now reboot the Romi by typing sudo reboot.

../../../_images/nano.png

After it reboots you should be able to locate the PhotonVision UI at: http://10.0.0.2:5800/.