rpi.md

Raspberry Pi 5 — pibot1

Author: Fran

• Overview
• Hardware
• Network
• Services
• Key paths
• Quick checks
• Cross-references
• MAVROS Docker (legacy)

Overview

pibot1 is a Raspberry Pi 5 mounted in the G Mobile Lab (vehicle). It runs sensor collection, a Bluetti BLE bridge, Starlink monitoring, and publishes everything to the server via MQTT.

Hardware

Component	Interface
Raspberry Pi 5	host
K30 CO2 sensor	I2C
BME280 temp/humidity/pressure	I2C
GPS NEO-6M	serial
IMU MPU-6050	I2C
Bluetti AC200M	BLE

Network

• Tailscale IP: 100.123.199.49
• SSH user: operator (via Tailscale SSH)

WiFi priority (NetworkManager, higher = preferred):

Priority	SSID
40	Alpen Starlink
30	Livebox6s-A2EB
20	Vodafone-F95C
10	iPhone Fran

Services

bluetti-mqtt

BLE bridge to the Bluetti AC200M (device D6:FD:4B:1F:E4:12). Reads battery state, input/output watts, and publishes to MQTT.

pibot-sensors

Reads I2C sensors (CO2, BME280, IMU), GPS, and Starlink gRPC status. Publishes every 30 s; IMU runs at 2-5 Hz.

starlink-watcher

Fast Starlink state-change detector. Polls every 5 s, publishes only when state changes.

prefer-starlink.timer

Systemd timer that reconnects to the Starlink WiFi every 2 min if the SSID is available.

Key paths

Path	Purpose
/opt/pibot-sensors/sensor_mqtt.py	Main sensor collection script
/opt/pibot-sensors/starlink_watcher.py	Starlink state watcher
/opt/pibot-sensors/imu_calibration.json	IMU calibration offsets
/etc/NetworkManager/dispatcher.d/99-mqtt-notify	NM dispatcher hook

Quick checks

ssh operator@100.123.199.49
systemctl status bluetti-mqtt pibot-sensors starlink-watcher
journalctl -u pibot-sensors -n 20 --no-pager

Cross-references

• Server-side telemetry pipeline: see bluetti-telemetry.md
• MQTT broker setup: see iot.md
• WireGuard tunnel: see wireguard.md

MAVROS Docker (legacy)

Calibrate stereo cameras

docker ps
docker exec -it mavros bash

apt update
apt install -y ros-humble-camera-calibration ros-humble-v4l2-camera

Launch the nodes:

ros2 run v4l2_camera v4l2_camera_node --ros-args -r image:=/left/image_raw  --param video_device:=/dev/video12
ros2 run v4l2_camera v4l2_camera_node --ros-args -r image:=/right/image_raw --param video_device:=/dev/video13

Run the calibrator:

ros2 run camera_calibration cameracalibrator \
  --size 9x6 --square 0.025 \
  left:=/left/image_raw right:=/right/image_raw \
  left_camera:=/left right_camera:=/right