Provides quick access and useful resources for Yahboom Dofbot.

Quick Access

Before Purchasing

There are two variants of Dofbot, one is for Jetson Nano, and the other is for Raspberry Pi.

Decide on which embedded board you want to use before purchasing.

Hardware Setup

Check all accessories in the package list exist.

Ensure you plugged in both power adapters (Jetson Nano & Expansion board), otherwise the robot arm will act slow and lazy (or even not responding to your commands) due to insufficient power supply.

Testing Setup

You can use the cheese command to test the camera:

cheese

For controlling the robot, use Yahboom Robot on Google Play to test it.

Jetson Nano

Download and unzip the Jetson Nano official image.

Install the raw image file onto a SD card following this tutorial.

Inject the SD card into Jetson Nano and boot up, log in with jetson:yahboom.

If you want to use Jupyter Notebook / Lab, visit http://localhost:8888/ and enter the password yahboom.

More details are provided in Yahboom Dofbot Docs for Jetson Nano.

Mount image file

Although all sample code and resources can be accessed after setting up the Jetson Nano, sometimes it is more convenient to access the files without touching the SD card and Jetson Nano. The solution is to mount the raw image file directly on Linux.

First, calculate the offset:

fdisk -l Yahboom_Dofbot_Jeston.img

outputs the following:

Disk ~/Yahboom_Dofbot_Jeston.img: 29.7 GiB, 31914983424 bytes, 62333952 sectors
Units: sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disklabel type: gpt
Disk identifier: 17EB8AD4-B521-4444-A89E-26856CEC81A6

Device                        Start      End  Sectors  Size Type
~/Yahboom_Dofbot_Jeston.img1  28672 62332927 62304256 29.7G Linux filesystem
~/Yahboom_Dofbot_Jeston.img2   2048     2303      256  128K Linux filesystem
~/Yahboom_Dofbot_Jeston.img3   4096     4991      896  448K Linux filesystem
~/Yahboom_Dofbot_Jeston.img4   6144     7295     1152  576K Linux filesystem
~/Yahboom_Dofbot_Jeston.img5   8192     8319      128   64K Linux filesystem
~/Yahboom_Dofbot_Jeston.img6  10240    10623      384  192K Linux filesystem
~/Yahboom_Dofbot_Jeston.img7  12288    13055      768  384K Linux filesystem
~/Yahboom_Dofbot_Jeston.img8  14336    14463      128   64K Linux filesystem
~/Yahboom_Dofbot_Jeston.img9  16384    17279      896  448K Linux filesystem
~/Yahboom_Dofbot_Jeston.img10 18432    19327      896  448K Linux filesystem
~/Yahboom_Dofbot_Jeston.img11 20480    22015     1536  768K Linux filesystem
~/Yahboom_Dofbot_Jeston.img12 22528    22655      128   64K Linux filesystem
~/Yahboom_Dofbot_Jeston.img13 24576    24735      160   80K Linux filesystem
~/Yahboom_Dofbot_Jeston.img14 26624    26879      256  128K Linux filesystem

We can calculate the offset of ~/Yahboom_Dofbot_Jeston.img1 by block-size 512 bytes and the start block 28672.

Calculate 512*28672=14680064, and mount the partition with:

sudo mkdir /mnt/dofbot
sudo mount -o loop,offset=14680064 Yahboom_Dofbot_Jeston.img /mnt/dofbot/
cd /mnt/dofbot/home/jetson
# access the files here
# unmount when done
sudo umount /mnt/dofbot
sudo rm -r /mnt/dofbot

Raspberry Pi

Download and unzip the Raspberry Pi official image.

Install the raw image file onto a SD card following this tutorial.

Inject the SD card into Raspberry Pi and boot up, log in with dofbot:yahboom.

More details are provided in Yahboom Dofbot Docs for Raspberry Pi.

Mount image file

Although all sample code and resources can be accessed after setting up the Raspberry Pi, sometimes it is more convenient to access the files without touching the SD card and Raspberry Pi. The solution is to mount the raw image file directly on Linux.

First, calculate the offset:

fdisk -l Yahboom_DOFBOT_Pi2020210204.img

outputs the following:

Disk ~/Yahboom_DOFBOT_Pi2020210204.img: 29.7 GiB, 31914983424 bytes, 62333952 sectors
Units: sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disklabel type: dos
Disk identifier: 0xd3408824

Device                             Boot  Start      End  Sectors  Size Id Type
~/Yahboom_DOFBOT_Pi2020210204.img1 *      2048   524287   522240  255M  c W95 FAT32 (LBA)
~/Yahboom_DOFBOT_Pi2020210204.img2      524288 62333918 61809631 29.5G 83 Linux

We can calculate the offset of ~/Yahboom_DOFBOT_Pi2020210204.img2 by block-size 512 bytes and the start block 524288.

Calculate 512*524288=268435456, and mount the partition with:

sudo mkdir /mnt/dofbot
sudo mount -o loop,offset=268435456 Yahboom_DOFBOT_Pi2020210204.img /mnt/dofbot/
cd /mnt/dofbot/home/dofbot
# access the files here
# unmount when done
sudo umount /mnt/dofbot
sudo rm -r /mnt/dofbot

Resources

The Dofbot URDF file is located at ~/dobot_ws/src/dofbot_moveit/urdf/dofbot.urdf.

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