Balachandra Bhat bnbhat

A small Device Tree Bringup Guide

Introduction

So, you guys might be wondering, how do these "Developers" get your favourite Custom roms, such as LineageOS, Paranoid Android etc., to their own devices. Well I'm here to Guide you on how to do it, specifically on how to bringup or make your own device tree from scratch or adapting.

Gist of this Guide: This is for people with genuine interest in Android OS porting/development. After going through this guide, you should be able to do a total device tree bringup on your own.

Prerequisite: Certain requirements are to be met before you start with this amazing journey.

Gstreamer Pipeline Samples

Table of Contents:

Gstreamer Pipeline Samples
- Tips for Debug
- Video
  - display test video
  - record to file
record and display at the same time(queue)

	#!/bin/bash

	###AUTHOR###
	#Harry Dove-Robinson 5/8/2017
	#[email protected]
	#https://gist.github.com/hdoverobinson
	#https://github.com/hdoverobinson

	###USAGE###
	#This is a script used to configure u-blox GPS/GNSS modules from a text file generated by u-center.

	[INFO] [launch]: All log files can be found below /home/balachandra/.ros/log/2023-09-18-09-28-46-206149-parashu-117997
	[INFO] [launch]: Default logging verbosity is set to INFO
	[INFO] [move_group-1]: process started with pid [118020]
	[INFO] [rviz2-2]: process started with pid [118022]
	[INFO] [component_container-3]: process started with pid [118024]
	[INFO] [hybrid_planning_demo_node-4]: process started with pid [118026]
	[move_group-1] [WARN] [1695022127.473358946] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
	[move_group-1] [INFO] [1695022127.475533756] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00208349 seconds
	[move_group-1] [INFO] [1695022127.475551742] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
	[move_group-1] [INFO] [1695022127.475559406] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint

	balachandra@parashu:~$ ros2 launch arc_hybrid_planner ur_moveit_hybrid_planner.launch.py
	[INFO] [launch]: All log files can be found below /home/balachandra/.ros/log/2023-09-03-20-59-30-023501-parashu-52087
	[INFO] [launch]: Default logging verbosity is set to INFO
	[INFO] [move_group-1]: process started with pid [52110]
	[INFO] [rviz2-2]: process started with pid [52112]
	[INFO] [component_container-3]: process started with pid [52114]
	[INFO] [hybrid_planning_demo_node-4]: process started with pid [52116]
	[component_container-3] [INFO] [1693767571.285592739] [hybrid_planning_container]: Load Library: /home/balachandra/thesis_ws/install/moveit_hybrid_planning/lib/libmoveit_global_planner_component.so.2.5.4
	[component_container-3] [INFO] [1693767571.286724490] [hybrid_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<moveit::hybrid_planning::GlobalPlannerComponent>
	[component_container-3] [INFO] [1693767571.286746812] [hybrid_planning_container]: Instantiate class: rclcpp_components::NodeFa

	# Copyright (c) 2021 PickNik, Inc.
	#
	# Redistribution and use in source and binary forms, with or without
	# modification, are permitted provided that the following conditions are met:
	#
	# * Redistributions of source code must retain the above copyright
	# notice, this list of conditions and the following disclaimer.
	#
	# * Redistributions in binary form must reproduce the above copyright
	# notice, this list of conditions and the following disclaimer in the

	global_planner_name: "moveit_hybrid_planning/MoveItPlanningPipeline"

	# The rest of these parameters are typical for moveit_cpp
	planning_scene_monitor_options:
	name: "planning_scene_monitor"
	robot_description: "robot_description"
	joint_state_topic: "/joint_states"
	attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor"
	# Subscribe to this topic (The name comes from the perspective of moveit_cpp)
	publish_planning_scene_topic: "/planning_scene"

	robot_description: "robot_description"
	trajectory_operator_plugin_name: "moveit_hybrid_planning/SimpleSampler"
	local_constraint_solver_plugin_name: "moveit_hybrid_planning/ForwardTrajectory"
	local_planning_frequency: 10.0
	global_solution_topic: "global_trajectory"
	local_solution_topic: "/scaled_joint_trajectory_controller/joint_trajectory"
	local_solution_topic_type: "trajectory_msgs/msg/JointTrajectory"
	publish_joint_positions: true
	publish_joint_velocities: false
	group_name: "ur_manipulator"