Scorpi

Development nodes

Raspberry pi

Raspberry pi 5 installation

• enable serial IO hardware (GPIO pin 14,15) - but it doesn't seem to work on pi-5, can't read or write.

Install packages:

libreadline-dev
libopencv-dev
libgpiod-dev
gpiod
cmake
subversion
aptitude
ntp
ntpdate
nmap
lsof
swig
sudo apt install libreadline-dev libopencv-dev libgpiod-dev gpiod cmake subversion aptitude nmap lsof swig

YDLidar (S4B)

YDlidar serial connected like this:

YDLIDAR   cable color   Raspberry 
1 Vcc (5V)   black        4  (5V)
2 Tx         red          10 (GPIO 15) (RxD)
3 Rx         white        8  (GPIO 14)(TxD)
4 Gnd        Yellow       6  (Ground)
5 M_SCP      Orange       18 (GPIO 24)
6 Dev_enable Green        16 (GPIO 23)
7 M_enable   Blue         12 (GPIO 18)
8 NC         Purple       14 (ground, to use all pins)

Software YDLidar-SDK

From Git repository

$ mkdir -p git
$ cd git
$ git clone https://github.com/YDLIDAR/YDLidar-SDK.git
$ cd YDLidar-SDK
$ mkdir build
$ cd build
$ cmake ..
$ make -j4

Ros2 Iron

Installation on Raspberry Pi 5 running default 64-bit OS: Debian GNU/Linux 12 (bookworm)

Base

Add en_DK.UTF-8 in this list

$ sudo dpkg-reconfigure locales

Then run

$ sudo update-locale LC_ALL=en_DK.UTF-8 LANG=en_DK.UTF-8
$ export LANG=en_DK.UTF-8

Install the compiled version of ROS2. I couldn't get the pre-build version to work. Follow the instructions from here:

https://docs.ros.org/en/iron/Installation/Alternatives/Ubuntu-Development-Setup.html

Note: I got:

E: Malformed entry 1 in list file /etc/apt/sources.list.d/ros2.list (Component)
E: The list of sources could not be read.

Then I modified /etc/apt/sources.list.d/ros2.list

sudo nano /etc/apt/sources.list.d/ros2.list

by adding "bookworm" near the end of the line

deb [arch=arm64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu bookworm main

The bookworm came from:

$ lsb_release -sc

Ros2 domain

Ros2 domain over local network

$export | grep ROS_

could show

declare -x ROS_AUTOMATIC_DISCOVERY_RANGE="SUBNET"
declare -x ROS_DISTRO="iron"
declare -x ROS_DOMAIN_ID="8"
declare -x ROS_LOCALHOST_ONLY="0"
declare -x ROS_PYTHON_VERSION="3"
declare -x ROS_VERSION="2"

In this case, ROS cooperates with others on the local network who also have ROS_DOMAIN_ID="8."

If used e.g. put "export ROS_DOMAIN_ID=8" into ~/.bashrc

ROS_DOMAIN=0 is the default.