Payload Autonomy Boxes - PABLO


SD Card Copying on OS X

SD card images for 8gig and 16gig SD cards are available. The images contain the NOOBS version of Raspian. Setup should already be complete for the user student and network access. MOOS-IvP, moos-ivp-kfish, and all dependencies are already downloaded and installed (although they may need to be updated with svn up then rebuilt).

Format the SD card

  • Download the software here: https://www.sdcard.org/downloads/formatter_4/
  • Format the card using the quickformat option. Name the card something logical (e.g., PABLO_12)
  • Run Disk Utility to unmount the partition.
  • Run $ diskutil list at the command line to display which /dev/disk# the drive is assigned.
  • Navigate to the directory containing the SD card image matching the size of your SD card. gunzip the file if necessary.
  • From the command line, run the following (replacing the disk size and drive number appropriately): 
     sudo dd bs=1m if=PABLO_SD_image16gig.img of=/dev/rdisk2
  • Note the use of rdisk2 instead of disk2. This causes unbuffered access to the drive which results in massively faster writing.
  • Be sure to eject the disk when finished.


Changing the Hostname on a Newly Imaged SD Card

After copying the image onto an SD card, change the unit's hostname so that the box is identifiable over the network.

  • Insert the SD card into a raspi
  • Log in as the student user
  • Run the raspi setup app: 
     sudo raspi-config
  • Select 8-Advanced Options then A2 - Hostname from the menus. Click OK to the convention instructions
  • Change the hostname appropriately. At the time of this writing, convention is to use PABLOxx where xx is the box number.


PABLO Network Setup


The SD card image should have a correctly defined network interface. This is the procedure to set up the network if creating a PABLO from scratch:

The /etc/network/interfaces file on the payload raspi is as follows: 

     auto lo

     iface lo inet loopback
     iface eth0 inet dhcp

     auto eth0:1
     iface eth0:1 inet static
        address 192.168.254.100
        netmask 255.255.255.0
        dns-nameservers 8.8.8.8 8.8.4.4