Installation

Dependencies

GitHub CLI & zip

Install GitHub CLI(https://github.com/cli/cli/blob/trunk/docs/install_linux.md) & zip

(type -p wget >/dev/null || (sudo apt update && sudo apt-get install wget -y)) \
    && sudo mkdir -p -m 755 /etc/apt/keyrings \
        && out=$(mktemp) && wget -nv -O$out https://cli.github.com/packages/githubcli-archive-keyring.gpg \
        && cat $out | sudo tee /etc/apt/keyrings/githubcli-archive-keyring.gpg > /dev/null \
    && sudo chmod go+r /etc/apt/keyrings/githubcli-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" | sudo tee /etc/apt/sources.list.d/github-cli.list > /dev/null \
    && sudo apt update \
    && sudo apt install gh -y

apt update
apt install zip -y
apt install gh

Python Virtual Environment (Recommended)

It is recommended to use a Python virtual environment to avoid conflicts with system packages.

# Install python3-venv if not already installed
sudo apt install python3-venv

# Create a virtual environment
python3 -m venv ~/.venv/raisin

# Activate the virtual environment
source ~/.venv/raisin/bin/activate

Note

You need to activate the virtual environment every time you open a new terminal:

source ~/.venv/raisin/bin/activate

To make this automatic, add it to your ~/.bashrc:

echo 'source ~/.venv/raisin/bin/activate' >> ~/.bashrc
source ~/.bashrc

Setup

GH_TOKEN setting

echo 'export GH_TOKEN=$YOUR_TOKEN' >> ~/.bashrc

Warning

The token lasts for 1 year, so you will need to update it every year.

Install raisin_master

You can clone the repository using

git clone https://$GH_TOKEN@github.com/raionrobotics/raisin_master.git
cd raisin_master

Install Python Dependencies

After cloning the repository, install the required Python packages:

# Make sure your virtual environment is activated
source ~/.venv/raisin/bin/activate

# Install dependencies from requirements.txt
pip install -r requirements.txt

Note

The requirements.txt includes essential packages like Click, PyYAML, requests, and packaging that RAISIN needs to function.

To upgrade the software version(for example, to v0.0.0),

cd $RAISIN_WS
git checkout main
git checkout v0.0.0
bash precompiled/raisin/download_precompiled_raisin.sh
bash install/install_dependencies.sh
python3 raisin.py setup

Firmware update

1. check firmware file name and location (In robot PC)

• filename: raibo2_driver_firmware_{version}.bin

• location: raisin_ws/install/resource/raisin_raibo2/resource/motor_firmware/raibo2_driver_firmware_xxx.bin

2. modify target firmware version in param.yaml (In robot PC)

• location: raisin_ws/install/raisin_raibo2/share/raisin_raibo2/params.yaml

motor_driver_firmware_version:
  value: 122
  dtype: string

required_driver_version:
  value: 122
  dtype: int

3. command for update firmware (In GUI Terminal)

Warning

Make sure that the node is turn off

• location: raisin_ws

• command: AXIS: ALL, FLR, FLP, FLK, FRR, FRP, FRK, RLR, RLP, RLK, RRR, RRP, RRK)

bash install/setup.bash
bash remote_firmware_update.sh $AXIS

• Iterate for all 12 axes.

• After all firmware updates are done, power off the robot(use the physical switch) and wait 5s -> power on , turn on the node

4. calibrate all motor by ros service (In GUI Terminal)

Warning

Make sure that the node is turn on

• before start calibrate, make motor freely move at least 60 degree in both direction

• calibration takes within 5 sec, if motor rotation finish, move next axis

• location: raisin_ws

• terminal command: (data list: FLR, FLP, FLN, FRR, FRP, FRN, RLR, RLP, RLN, RRR, RRP, RRN)

bash install/setup.bash
ros2 service call /railab_raibo/motor_commutation raisin_raibo2/srv/String {data: $AXIS}

• Iterate for all 12 axes.