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RobotPy RoboRIO Packages

This repository contains the build files used to build the RobotPy .ipk packages hosted at https://www.tortall.net/~robotpy/feeds/2022/. The current list of published packages can be found at that URL.

Installing a package (online)

NEW FOR 2020: You must import the RobotPy package signing key (fingerprint 46C8 9FEB 8973 8008 16F2 FA66 18C4 E7B9 5FBE B547). You can use the following command to install it:

curl https://www.tortall.net/~robotpy/feeds/robotpy.gpg | opkg-key add -

Create a .conf file in /etc/opkg (e.g. /etc/opkg/robotpy.conf) containing the following line:

src/gz robotpy https://www.tortall.net/~robotpy/feeds/2022

Here's a command you can copy/paste that does this:

echo "src/gz robotpy https://www.tortall.net/~robotpy/feeds/2022" > /etc/opkg/robotpy.conf

Then run opkg update. After you setup the opkg feed, you can run:

opkg install PACKAGENAME

Installing a package (offline)

You can use the RobotPy Installer Script to do offline opkg installs. First, download the package:

python3 installer.py download-opkg PACKAGENAME

Then, connect to the network with the RoboRIO, and install it:

python3 installer.py install-opkg PACKAGENAME

Building these packages yourself

Many of these packages are built directly on a roboRIO. Compiling them can eat up most of your RoboRIO's disk space, so you'll probably want to reimage it before using the RoboRIO in a competition.

Go into a directory and do this:

make ROBORIO=roborio-XXXX-frc.local all

Build Notes

  • You will almost certainly want to setup passwordless login using an SSH key, as the compile process uses SSH to login to the roborio multiple times.

  • Most of these packages can be compiled on a virtual machine, and the virtual machine won't run out of disk space or RAM quite so easily. See the roborio-vm repository for more details.

  • Some packages use a lot of RAM, and your best bet is to use a swap device to allow it to complete. A USB memory stick works great for this.

    • On a linux host use cfdisk to partition your stick
    • Use mkswap to initialize the space.
    • Mount it on the roborio by using swapon

When adding new packages:

  • Some packages have deeply recursive build functionality, if you have a weird segfault that occurs it might be because the process ran out of stack space (the default on the RoboRIO is 256k, whereas modern linux default to a few MB). In your build steps, you can set the stack size by executing ulimit -s 2048