nikivanov / watney

Watney is a low-cost 3D-printable FPV rover

Watney Rover

Watney is an open source, Raspberry Pi-enabled telepresence rover made of readily available parts. Non-electronic parts of Watney are 3D printable. Watney provides a low-latency HD video feed as well as bi-directional audio with echo cancellation. Watney uses a charging dock with passthrough charging for continuous operation.

If you've enjoyed this project and want to buy me a beer (no pressure):

Components

Head over to Bill of Materials for a list of components you need to purchase to build your own Watney. You'll also need a 3D printer, some PETG / Tough PLA as well as TPU filament. Lastly, you'll need a soldering iron and some wires, though most connections are made using standard breadboard jumper wire.

UPS Firmware Update

Before you start assembling your Watney, be sure to update the firmware of the UPS power supply. At the time of writing, the latest firmware is v10 - all previous firmware versions suffered from occasional lockups. You can find firmware update instructions here.

Printing the parts

You can find all 3D printable parts in the STLs folder. I recommend printing everything but the tires in PETG (I used eSun PETG) or at least Tough PLA. I find regular PLA to be too brittle but YMMV. Print the tires in TPU - Hatchbox TPU worked great for me, but others will almost certainly work just as well.

Print every part with 0.2mm layer height. No supports are needed. The base part includes tearaway lilypads to help with adhesion. Generally, the prints can take a long time but none of them are particularly challenging to print.

Assembly

You'll be working with Lithium Ion batteries - please be careful not to puncture or short them, as they can become a fire hazard if used improperly. You assume all responsibility for damages that may be caused by your Watney, whether it's assembled correctly or otherwise.

Click on the Releases tab and download the latest Watney SD card image - it's the large .zip file found under Assets. Use balenaEtcher or similar to write the .img file onto the SD card.

After that, follow the detailed assembly video below!

Wiring diagrams that you see in the video can also be found here.

Configuration

Upon startup, Watney will detect if it's connected to a Wi-Fi hotspot. If not, it will host its own hotspot "Watney". Once you connect to the hotspot, you can control it directly by going to https://192.168.4.1:5000, or connect it to a Wi-Fi hotspot by going to http://192.168.4.1 Once you specify your WiFi credentials, Watney will take some time to reboot. Once you hear the startup sound, you're good to go!

Default SSH credentials for Watney are pi / watney5. Watney's mDNS name is watney.local, so if your OS supports mDNS you can simply access it at https://watney.local:5000

Watney's configuration can be found in ~/watney/rover.conf:

• If you want to use different GPIO pins, you can specify them here

• If you find motors on either side running in reverse (backwards when it's supposed to be rotating forward) simply swap ForwardPin and ReversePin

• Restart your Watney for configuration changes to take effect

  Off Charger re-docking

  Watney can detect when it is taken off the charger outside of its own movement and can attempt to re-dock by driving forward for one second. In my case, Watney occasionally gets knocked off the charger by my Roomba, so enabling this functionality ensures that Watney is always docked and charging. By default this functionality is disabled: I didn't want Watney to drive off someone's workbench while they are working on it. If you'd like to enable this functionality, set Enabled=True in the OFFCHARGER section of the config.

Remote Access

Watney has no authentication / security. If you'd like to set it up for remote access, I recommend using Zerotier. Adding Watney and your client computer to the same Zerotier network will make it appear as if they are on the same local network.

Building your own Watney image

packer-builder-arm is used to build the Watney image. You can find the image build definition in watney-image.json. This article may help setting up packer and packer-builder-arm on your linux system.

Raspberry Pi Compatibility

Watney is designed to work with Raspberry Pi 3A+, however other versions may be compatible:

• scifiguy000 confirmed to have successfully used a Raspberry Pi 4B in this thread
• Raspberry Pi Zero 2 may work out of the box, but has not been confirmed yet

Camera Module Compatibility

camrichmond discovered that the newest Raspberry Pi camera module v3 is not compatible with the current Watney image, since the camera module itself is not compatible with raspivid, which is how Watney gets its hardware-encoded h264 video stream. New Bullseye RPi images use libcamera instead. The fix is to simply change the command in video.sh as detailed in this comment. Additionally, camrichmond modified the camera housing for the new camera module, which you can download here. Thanks camrichmond!

Troubleshooting

• Watney works best with Chrome. Other browsers may not work well, or at all.
• Feel free to file an issue on GitHub if you have questions!

Open Source Acknowledgements

The following open source projects were used in development of Watney:

• Janus WebRTC Server
• GStreamer
• Raspberry Pi Turnkey

Future Improvements

There have been numerous hardware iterations of Watney, starting from a humble line-follower built for a hackday work project, to the telepresence rover it is today. I'm not planning on adding new hardware iterations, as the latest version accomplishes everything I've envisioned for this project. That being said, there are still some software improvements to be made:

• Mobile-optimized control. You'll be able to control your watney from your phone / tablet, especially in tandem with Remote Access.
• Better browser compatibility. There's no reason it can't work in all major browsers.

watney's Issues

LED lights

Do you think it's possible to set a GPIO pin to turn on and off some LED headlights?

Speech function?

Would it be possible to add eSpeak Text-To-Speech? Like a LM4871 audio amp ? Textbox on the web interface? Would be a great way to make it for of a telepresence bot. ..

Feature play audio

Hey @nikivanov

I am adding a feature to play audio from sd card.

I am using the lib mpg123 my-audio.mp3, could I add this lib into the project?
if yes I will provide a PR ;)

Rover Access via DDNS

Hi @nikivanov ,

I am trying to set up the Watney for remote access, however, I am having issues with requests to the Janus Server (hosted on port 8089).

I am wanting the access to be as easy as possible, with the video feed and controls embedded onto another site.

I've tried a few things so far:

Zerotier: Works well, but with the user restrictions I will run into the limit, plus it adds setup for the end user, which is not preferred.

I have forwarded ports 5000, 8088, 8089, 7088, and 53, and adding DDNS, hoping that would solve the problem. With this configuration, it doesn't change anything on the local network access. However, I am unable to access the video feed from the rover remotely. With the DDNS and port forwarding, I was still able to load the index.html, and the heartbeat requests are going through, so I'm getting the SSID, latency, quality, and CPU, and can also control the rover, but do not have access to the video feed.

However, in both of these circumstances, I am still getting the same errors. (See images below).

The best I can tell, these errors seem to be related to CORS headers. I have not found a way to configure those in Janus. Any advice or related information would be greatly appreciated.

Issues with UPS communicating with Raspberry PI

Hello, I'm having a single issue with Watneys UPS comms. In order to get it communicating/ running I had to change the address from 0x17 to 0x68 and the software works with one issue.

The battery reads 42% no matter the actual battery voltage is. It also does not sense when its charging making it hard to tell weather or not its going to survive the night haha.

I assume its something to do with the raspberry pi not communicating with the UPS? all the parts are identical to the BOM. Any help would be greatly appreciated!

Thanks,
Eric

Feature request: Additional servo control

Hi,

Thank you for the great project.

It would be really useful if there was an additional preconfigured servo PIN to allow additional functionality (e.g. left/right camera, turret or RC LED control).

There would also need to be associated keyboard keys for the web UI.

In my case I want to control a RC car type LED which is controlled as a servo (works fine when connected to the camera servo in testing)

Thank you for considering this.

watney4 STLs

Watney4 Schematics

De schematics are different from the video where the camera is possible to move.
Are tho's schematics also available? I really like what you do with the camera movement

Possible to add servo for left right on camera

Hi,
Cool project, but I have a pan tilt servo mounted on the camera, where would the changes be in the code for using Q and W for left and right please, I connected the additional servo pin to GPIO3 and made changes in rover.conf

[SERVOUD]
PWMPin=2
# Min restricts the camera movement down
Min=5.5
# Max restricts the camera movement up
Max=9.2
Neutral=7.5

[SERVOLR]
PWMPin=3
# Min restricts the camera movement left
Min=5.5
# Max restricts the camera movement right
Max=9.2
Neutral=7.5

and added the new function to servocontroller.py

class ServoController:

    def __init__(self, config):
        Events.getInstance().janusFirstConnect.append(lambda: self.onJanusConnected())

        servoConfig = config["SERVOUD"]
        self.pwmPin = int(servoConfig["PWMPin"])
        self.neutral = float(servoConfig["Neutral"])
        self.min = float(servoConfig["Min"])
        self.max = float(servoConfig["Max"])

        servoConfig = config["SERVOLR"]
        self.pwmPin = int(servoConfig["PWMPin"])
        self.neutral = float(servoConfig["Neutral"])
        self.min = float(servoConfig["Min"])
        self.max = float(servoConfig["Max"])

But I do not know what changes are needed in the UI code, please

Raspberry Pi Camera 3 incompatibility

I recently started building a Watney, and I've run into an issue with the new official Raspberry Pi camera module V3. Unfortunately these new modules aren't compatible with Buster and raspivid - instead they require the new drivers from Bullseye and libcamera or Picamera2.

I've made some progress by upgrading the installed Watney image to Buster. I can now see my camera module with a vcgencmd get_camera, but there are some broken dependencies when trying to install libcamera-apps that I still need to resolve. Someone more savvy than me could probably make this change easily, but I might just make it easier on myself and buy an older wide-angle camera module. FWIW my old 1st generation camera module works perfectly right out of the box with the stock Watney image.

I just wanted to let anyone who might be running into the same issue know that the newer V3 cameras won't work with the current Watney image. Keep up the great work - this is a really fun project!

No video

Hello,

First of all, thank you for the material posted here. I'm having fun and learning a lot trying to build one Watney4

At this time, I've printed all parts and I've also modified some of them in order to adapt to the servo (GH-S43A) which is the only one I found that matches the required dimensions.

I'm still waiting for the motors for the wheels so I decided to test the other pieces separately from the entire robot.

The main problem I'm having is with the video. I've spent more than 4 days reading, compiling, changing things testing etc... with very little success.

1. I started using the software published on the "master" branch, but it looks like the video protocol is a security hole and not supported by browsers. So I realised I'd to go for the second branch (2wayaudio)

2. I moved to the new 2wayaudio branch. Downloaded janus from source (and several other libraries) tested if the video camera works and the scripts... and I'm stuck with a blank screen on my browser.

I'm still using a Raspberry pi zero W. It has no sound card so I can't test the sound. It might be good if sound is an option in the software so we could test things step by step.

Regarding the video. I've been able to save a sample video file in h264 format, upload the file to my MAC and then reproduce it on VLC so the hardware works and the first part of the video.sh script to capture the images from the capera works. OK.

I cannot test the second part of the pipe in the script. I've tried to use VLC on the Raspberry pi to implement the server side and test if the network is not a problem and I can see the video (with bad FPS...) but from time to time I can see images coming to VLC Client on the MAC.

But, when I start JANUS to test all pieces together, I'm stuck in a black screen with no images. The janus.log file says:

[Sun Sep 22 23:49:37 2019] [1962729996216110] Creating ICE agent (ICE Full mode, controlled)
[Sun Sep 22 23:49:38 2019] [ERR] [sdp-utils.c:janus_sdp_get_codec_rtpmap:763] Unsupported codec 'none'
[Sun Sep 22 23:50:17 2019] [ERR] [dtls.c:janus_dtls_retry:1029] [2445920852038508] DTLS taking too much time for component 1 in stream 1...
[Sun Sep 22 23:50:17 2019] [janus.plugin.streaming-0xb2f08938] No WebRTC media anymore
[Sun Sep 22 23:50:17 2019] [2445920852038508] WebRTC resources freed; 0xb2f07108 0xb2f02ca0
[Sun Sep 22 23:50:17 2019] [ERR] [dtls.c:janus_dtls_retry:1029] [1962729996216110] DTLS taking too much time for component 1 in stream 1...
[Sun Sep 22 23:50:17 2019] [janus.plugin.videoroom-0xb2f051e8] No WebRTC media anymore; 0xb2f09e78 0xb2f06520
[Sun Sep 22 23:50:17 2019] [1962729996216110] WebRTC resources freed; 0xb2f09e78 0xb2f02ca0
[Sun Sep 22 23:50:17 2019] [WARN] [1962729996216110] No stream, queueing this trickle as it got here before the SDP...

and I don't know how to move forward...

Cheers
Ignacio

Dock missing from Watney 2.0 STLs

would you be able to post the dock STL for the 2.0 version of Watney? I have to reprint it.
(I'm also waiting on some part to build my 3.0 version, can't wait!)

Raspberry pi 4 compatible and STL file for the 4?

Morning,

Is this compatible in with the raspberry 4? Also do you have a 3d printer file for the 4?

esp32 + esp32cam

Hi @nikivanov

thank you for the project, you did a nice project <3

I was wondering if you have any example using esp32 I guess it could reduce cost of the project.

and to make mic+speaker works, did you use i2s protocol or something else?

Mic stop to work

Hello I was trying to figure out , but I still didn't find the reason, why the mic works and after a while it stops to work and it just reproduce noise on computer, have you faced this before?

Note: usually it happens when I reboot

Asking for watney login

I'm currently trying to boot watney after flashing the sd card, and it's stuck on the following step

watney login:

I didn't see any username / password for this, or maybe I'm just being stupid, how can this be configured?

Use traefik as proxy

Hey @nikivanov

after authenticate in the wifi, is it possible to change the password again?

Anyway to Change the TTS Engine?

I liked the old Watney 2.0 voice, any way to switch back?

Watney Microphone Loud Static, No sound

I ordered a replacement mic module thinking that was the issue. But even after swapping the micrphone and double checking my wiring all I'm hearing on the Watney web interface is loud static. Any suggestions?

Watney Image Information

Hi @nikivanov.

First a big thanks for releasing such an amazing project!
I was wondering if you could spend a paragraph on the build process of the Watney .img, in case fellow developers wish to help out.

Thank you for the consideration,
Jonathan

PID speed controller

Hi !
I wondered if it would be interesting to setup a speed control within watney robot using this kind of motors :
https://www.dfrobot.com/product-1457.html?gclid=Cj0KCQiAsbrxBRDpARIsAAnnz_PhEx8-o3IdeGfHtnVxXILQznXau51J_REz-_1r_2tdGmzQhWN6Fx0aAkb5EALw_wcB

The speed control could be done via the software or I wondered if this kind of card would fit in the robot if removing L298N (would not be necessary anymore in that case) :
http://www.dagurobot.com/Robot_Controller/Rover5_tank_motor_driver_board

Could you eventually advice me on this ?
I am wondering if driving straight while using FPV is easy or not without that kind of pid control.

Use a Raspberry Pi 3?

Can you adapt this project to use a „normal“ Raspberry Pi 3?

name 'AudioManager' is not defined

Did you face this issue? note I am using the default image

Dec 15 22:20:03 watney python3[807]: Using TLS with keys in '/home/pi'
Dec 15 22:20:03 watney python3[807]: Traceback (most recent call last):
Dec 15 22:20:03 watney python3[807]:   File "/home/pi/watney/server.py", line 173, in <module>
Dec 15 22:20:03 watney python3[807]:     audioManager = AudioManager(config)
Dec 15 22:20:03 watney python3[807]: NameError: name 'AudioManager' is not defined
Dec 15 22:20:03 watney systemd[1]: watney.service: Main process exited, code=exited, status=1/FAILURE
Dec 15 22:20:03 watney systemd[1]: watney.service: Failed with result 'exit-code'.
Dec 15 22:20:04 watney systemd[1]: watney.service: Service RestartSec=1s expired, scheduling restart.
Dec 15 22:20:04 watney systemd[1]: watney.service: Scheduled restart job, restart counter is at 21.
Dec 15 22:20:04 watney systemd[1]: Stopped Watney Service.
Dec 15 22:20:04 watney systemd[1]: Started Watney Service.

Running on Raspberry Pi 4B

Great project! I've been having fun building it (it's quite an elegant design). Many thanks to the originator(s) for their hard work!

I did some minor mechanical modifications and used a RPI 4B. The image boots, and WiFi can be assigned at http://192.168.4.1. After a reboot, I see it connected to my router, and I can SSH into it at its assigned IP address. However, the web interface does not load, and the boot up Watney voice doesn't play. I've verified the amplifier and speaker wiring, but since the web interface does not load, I suspect something more basic is going wrong. Any ideas what to try?

Thanks.

--Mike

Raspberry don't BOOT

Hello mon raspberry pi 3a+ ne boot avec l'IMG fourni mais avec une distribution raspbian normale oui que faire ?

4 flash vert + 7 flash vert

start*.elf introuvable
Image du noyau (kernel.img) introuvable

Feature Request: LED Headlights

I'm not sure where to put a feature request in, but I'd be happy to help work on this.
I think some bright LEDs in the front would be perfect for navigating dark spaces.

Running new firmware on Watney 2.0?

Is it possible to run the latest Watney build on Watney 2.0?
I have some SK9822 LEDs I ordered for my new Watney and I wanted to retrofit them on my older Watney 2.0

Smartphone/Tablet control

Project is awesome.
I believe that adding a few buttons (up/down/left/right/tilt) on lower button row, would add functionality with tablet or smartphone. Is that possible or need complete redesign of code?

Also a status of voltage of battery with an MCP3008 ADC will complete control of WATNEY

Watney 2.0 Constant Reboot While on Wireless Charger

Hi Nikivanov,

Have you ever encountered an issue where Watney 2.0 reboots while connected to the wireless charger?
I'm thinking about retrofitting the Watney 2.0 with the new charging contacts.

Thanks

Audio issue

After upgrade UPS fw, audio is not working anymore :/

sometime I hear "Watney online", but after few seconds I hear the audio cut, and it stops to work.

I can see this log

Dec 22 10:53:23 watney kernel: [  163.981478] voicehat-codec voicehat-codec: Disabling audio amp...
Dec 22 10:53:23 watney kernel: [  163.981637] voicehat-codec voicehat-codec: Enabling audio amp...
Dec 22 10:53:34 watney kernel: [  174.283044] voicehat-codec voicehat-codec: Disabling audio amp...
Dec 22 10:53:34 watney kernel: [  174.283471] voicehat-codec voicehat-codec: Enabling audio amp...
Dec 22 10:53:51 watney kernel: [  191.484460] voicehat-codec voicehat-codec: Disabling audio amp...
Dec 22 10:53:51 watney kernel: [  191.485285] voicehat-codec voicehat-codec: Enabling audio amp...
Dec 22 10:54:39 watney kernel: [  240.046761] voicehat-codec voicehat-codec: Disabling audio amp...
Dec 22 10:54:39 watney kernel: [  240.052220] voicehat-codec voicehat-codec: Enabling audio amp...
Dec 22 10:54:46 watney kernel: [  247.003943] voicehat-codec voicehat-codec: Disabling audio amp...
Dec 22 10:54:46 watney kernel: [  247.007404] voicehat-codec voicehat-codec: Enabling audio amp...

Missing license

This looks great! Thanks for sharing!

Would you mind adding a license so that we know what we are allowed to do with it?

Something common like would be nice:
https://choosealicense.com/licenses/mit/

Compatibility new raspberry pi A+

Can't connect while using bookworm branch

I have the watney rover working with the provided watney.img release (Build Here), but its a little flakey so I thought I'd try to upgrade to bookworm arm64 to see if it makes it more stable and just to tinker a bit.

But I can't get it to work. I've tried compiling the bookworm branch using the packer-builder-arm multiple times as well as manually execute everything in watey-image.json. Each time with the same results. The rover will boot up as expected but can't connect through https://my-ip:5000 or https://watney.local:5000. Browser just says ERR_CONNECTION_RESET.

I had the release image working so I don't think there's any hardware issues. And its connected to internet, other devices on the network can ping it and see ports 22, 53 and 5000 open. And there's nothing in the logs that seems concerning, er no obvious errors.

I can't seem to tell what is going wrong. Is there something simple I'm missing? Or other debug steps I can do or other logs to look at beyond janus.log?
Any help would be appreciated!

Netstat output

pi@watney:~ $ netstat -lntu
Active Internet connections (only servers)
Proto Recv-Q Send-Q Local Address           Foreign Address         State      
tcp        0      0 127.0.0.1:5001          0.0.0.0:*               LISTEN     
tcp        0      0 0.0.0.0:5000            0.0.0.0:*               LISTEN     
tcp        0      0 0.0.0.0:53              0.0.0.0:*               LISTEN     
tcp        0      0 0.0.0.0:22              0.0.0.0:*               LISTEN     
tcp6       0      0 :::8188                 :::*                    LISTEN     
tcp6       0      0 ::1:8888                :::*                    LISTEN     
tcp6       0      0 ::1:5001                :::*                    LISTEN     
tcp6       0      0 :::7088                 :::*                    LISTEN     
tcp6       0      0 :::8089                 :::*                    LISTEN     
tcp6       0      0 :::53                   :::*                    LISTEN     
tcp6       0      0 :::22                   :::*                    LISTEN     
udp        0      0 0.0.0.0:53              0.0.0.0:*                          
udp        0      0 0.0.0.0:67              0.0.0.0:*                          
udp        0      0 0.0.0.0:5353            0.0.0.0:*                          
udp        0      0 0.0.0.0:45034           0.0.0.0:*                          
udp6       0      0 :::53                   :::*                               
udp6       0      0 :::8004                 :::*                               
udp6       0      0 :::8005                 :::*                               
udp6       0      0 :::42111                :::*                               
udp6       0      0 :::5002                 :::*                               
udp6       0      0 :::5004                 :::*                               
udp6       0      0 :::5353                 :::*

server.py output

pi@watney:~ $ /usr/bin/python3 -u /home/pi/watney/server.py
Using TLS with keys in '/home/pi'
DEBUG:root:Use hardware SPI
Set powerplant cutoff voltage to 3200 mv
Servo starting...
Starting TTS...
Heartbeat starting...
Executing '/opt/janus/bin/janus -F /opt/janus/etc/janus/'
Logging to '/home/pi/watney/janus.log'
Saying 'Watney... Online'

janus.log

Janus version: 1203 (1.2.3)
Janus commit: 2a1db57ef737a272faa8fc433fce5266603a4737
Compiled on:  Wed  5 Jun 11:44:46 CDT 2024

Logger plugins folder: /opt/janus/lib/janus/loggers
[WARN]  Couldn't access logger plugins folder...
---------------------------------------------------
  Starting Meetecho Janus (WebRTC Server) v1.2.3
---------------------------------------------------

Checking command line arguments...
Debug/log level is 4
Debug/log timestamps are disabled
Debug/log colors are enabled
Adding 'vmnet' to the ICE ignore list...
Using 192.168.1.206 as local IP...
Token based authentication disabled
Initializing recorder code
Initializing ICE stuff (Full mode, ICE-TCP candidates disabled, half-trickle, IPv6 support disabled)
TURN REST API backend: (disabled)
^[[33m[WARN]^[[0m Janus is deployed on a private address (192.168.1.206) but you didn't specify any STUN server! Expect trouble if this is supposed to work over the intern>
Crypto: OpenSSL >= 1.1.0
Fingerprint of our certificate: AF:C9:D7:CD:2C:82:2D:CB:75:B6:F0:0B:00:5F:B6:93:87:A5:45:0D:F9:BC:BE:E7:91:9C:B8:39:B5:F9:FC:FD
^[[33m[WARN]^[[0m Data Channels support not compiled
Sessions watchdog started
Event handler plugins folder: /opt/janus/lib/janus/events
Joining Janus requests handler thread
Loading event handler plugin 'libjanus_wsevh.so'...
^[[33m[WARN]^[[0m WebSockets event handler disabled
Loading event handler plugin 'libjanus_sampleevh.so'...
JANUS SampleEventHandler plugin initialized!
Loading event handler plugin 'libjanus_gelfevh.so'...
^[[33m[WARN]^[[0m GELF event handler disabled (Janus API)
^[[35m[FATAL]^[[0m [events/janus_gelfevh.c:janus_gelfevh_init:375] GELF event handler not enabled/needed, giving up...
Plugins folder: /opt/janus/lib/janus/plugins
Loading plugin 'libjanus_textroom.so'...
^[[33m[WARN]^[[0m Data channels support not compiled, disabling TextRoom plugin
^[[33m[WARN]^[[0m The 'janus.plugin.textroom' plugin could not be initialized
Loading plugin 'libjanus_videoroom.so'...
JANUS VideoRoom plugin initialized!
Loading plugin 'libjanus_videocall.so'...
JANUS VideoCall plugin initialized!
Loading plugin 'libjanus_streaming.so'...
JANUS Streaming plugin initialized!
Loading plugin 'libjanus_audiobridge.so'...
^[[33m[WARN]^[[0m Denoising via RNNoise NOT supported
JANUS AudioBridge plugin initialized!
Loading plugin 'libjanus_nosip.so'...
JANUS NoSIP plugin initialized!
Loading plugin 'libjanus_sip.so'...
^[[33m[WARN]^[[0m sofia-sip logs are going to be redirected and they will not be shown in the process output
JANUS SIP plugin initialized!
Loading plugin 'libjanus_voicemail.so'...
^[[31m[ERR]^[[0m [janus.c:main:5746] The 'janus.plugin.voicemail' plugin was compiled against an older version of the API (19 < 105), skipping it: update it to enable it a>
Loading plugin 'libjanus_echotest.so'...
JANUS EchoTest plugin initialized!
Loading plugin 'libjanus_recordplay.so'...
JANUS Record&Play plugin initialized!
Transport plugins folder: /opt/janus/lib/janus/transports
Loading transport plugin 'libjanus_pfunix.so'...
^[[33m[WARN]^[[0m No Unix Sockets server started, giving up...
^[[33m[WARN]^[[0m The 'janus.transport.pfunix' plugin could not be initialized
Loading transport plugin 'libjanus_websockets.so'...
libwebsockets logging: 0
Websockets server started (port 8188)...
JANUS WebSockets transport plugin initialized!
Loading transport plugin 'libjanus_http.so'...
WebSockets thread started
HTTP transport timer started
HTTPS webserver started (port 8089, /janus path listener)...
Admin/monitor HTTP webserver started (port 7088, /admin path listener)...
JANUS REST (HTTP/HTTPS) transport plugin initialized!

When Backing off the Wireless Charger Watney will reboot instead of moving

This little robot is amazing to drive around the house and I'm having a blast with it. The only issue I've found is that Watney will reboot when I attempt to back out of the wireless charging bay. The result is that my rover is "stuck" on the charger without the ability to reverse.

For reference I am using:
https://www.aliexpress.com/item/32969639665.html?spm=a2g0o.productlist.0.0.531ef69aoHasVM&algo_pvid=aed1da03-ca85-47b8-bb87-2ebd00ad7b16&algo_expid=aed1da03-ca85-47b8-bb87-2ebd00ad7b16-0&btsid=b98f799f-1fe1-4a06-955c-8edf754855bc&ws_ab_test=searchweb0_0,searchweb201602_4,searchweb201603_55

Based on reviews it looks like it fails to work as a UPS.

I2S-Support

Hello,

i realy try hard since two weeks to stream sound form i2s mems mic over gstreamer. but it is always silence...

can you help me, what exactly i have to install/use for stream over gst-launch?
it is alwayse silence, but a record work probably

Use Docker

Hi @nikivanov

I was wondering... have you considered to use docker instead of packer? Why?

• Because packer could be used just for few boards,
• And when you release a new image I must reinstall the SO, and with docker I just need to pull the new image, and In case there is some issue, I could revert easily.
• docker gonna work basically with all boards that uses Linux

Post your Watney builds here!

Hi! Please post pictures of your Watney builds here - just drag and drop an image into the comment:

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Great Idea

I love this project!. The kids and I have had a great time printing it up and getting it all put together.
Is there a file or anyway I can get a simple ELI5 wiring diagram? Thanks I have the Ras Pi Zero