Raspberry and ROS
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Installation from blank SD-flash
Install Raspberry
Use Raspberry pi imager (download from https://www.raspberrypi.com/software/)
rpi-imager
First configure settings: click the gear icon, and set:
- enable ssh, hostname, English language, Danish keyboard, possibly SSID, time zone, username (local) and password (remember to spell the password correctly).
then
Select operating system 'Raspberry Pi OS lite' and storage, an empty SD-flash of at least 16GB, then write.
When finished, mount the SD into the Raspberry
Start Raspberry
If everything is configured as above, then you just need to figure out the IP.
else
You need a screen and keyboard. Connect to the network to get an IP and for updating and date/time.
Find your IP address using:
sudo apt install net-tools nmap ifconfig
Or from another computer on the same local net (if your local net is 192.168.2.XX)
nmap -sP 192.168.2.0/24
Wifi connect
The Raspberry uses the configuration in
cd /etc/wpa_supplicant sudo nano wpa_supplicant.conf
@todo how to setup - copy from old installguide?
SSH from another computer
If the Raspberry has an IP of 192.168.2.39, then:
ssh local@192.168.2.39
or
ssh -X local@192.168.2.39
If your computer support X-graphics, e.g. has X-ming installed
Putty or other tools could be used too.
Install tools
Install subversion and other tools
Note: if you are on DTU network, then the date on the Raspberry will most likely not be set correct, and that may give problems for updating the operating system. If so you may need to install NTP and NTPDATE first and then configure /etc/ntpconf as described below.
ntp # time setup ntpdate # time setup from DTU net libreadline-dev # command line memory libopencv-dev # openCV python3-pyqtgraph # fancy graphs in Python python3-scipy # scientific functions pyqt5-dev # QT designed GUI pyqt5-dev-tools # design QT GUI festival # text to sound sox # sound format read/write libsox-fmt-all # formats for SOX v4l-utils # video utilities apt-file # for finding missing system files (optional) qv4l2 # for testing camera (optional) kate # graphical editor (optional - nano is faster) xinit # to run server (graphical user interface) cmake # to build apps pip # Python package install
sudo apt update sudo apt dist-upgrade sudo apt install ntp ntpdate libreadline-dev subversion libopencv-dev python3-pyqtgraph python3-scipy pyqt5-dev pyqt5-dev-tools festival sox libsox-fmt-all apt-file kate qv4l2 v4l-utils xinit cmake pip
NTP when on DTU net
Network time protocol (NTP), to keep clocks in sync. At DTU most clock sources are blocked, the clock source needs to be configured.
At DTU, edit /etc/ntp.conf, add ntp.ait.du.dk to the NTP server pool, like:
... # Use servers from the NTP Pool Project. Approved by Ubuntu Technical Board # on 2011-02-08 (LP: #104525). See http://www.pool.ntp.org/join.html for # more information. pool ntp.ait.dtu.dk pool 0.ubuntu.pool.ntp.org iburst ...
This should ensure a proper date on a DTU net and when the internet is available elsewhere.
Sync time (if on DTU net)
sudo ntpdate -u ntp.ait.dtu.dk date
Install ROS base
I will use Noetic (if it is ethical to do so).
Follow the instructions at http://wiki.ros.org/noetic/Installation/Ubuntu but it may fail with "The repository 'http://packages.ros.org/ros/ubuntu jammy Release' does not have a Release file."
The repository adds a file /etc/apt/sources.list.d/ros-latest.list. Modify the line in the file to be
deb [trusted=yes] http://packages.ros.org/ros/ubuntu jammy main
and then redo the
sudo apt update
Install ros-desktop-full-dev or ros-desktop-full and a bit more to use a Catkin workspace:
sudo apt install ros-desktop-full sudo apt install python3-rosinstall sudo apt install libmap-msgs-dev
Robobot from SVN
Install the needed Regbot and Fejemis packages. Fejemis is for the bridge, which also is a ROS bridge. Regbot is for the firmware, and the user interface used for the sensor calibration.
We will install these packages in an 'svn' directory, and make an easy link to the relevant parts.
mkdir cvn cd svn svn checkout svn://repos.gbar.dtu.dk/jcan/fejemis svn checkout svn://repos.gbar.dtu.dk/jcan/regbot svn checkout svn://repos.gbar.dtu.dk/jcan/robobot
and then the links
cd ln -s svn/regbot/regbot_gui ln -s svn/fejemis/ROS/catkin_ws
Initialize the ROS environment
Initialize sets up the needed environment variables and makes a script for remaining settings for this project.
cd ~/catkin_ws rosws init . /usr/share
This outputs a message about the location of the ROS setup script:
rosinstall update complete. Type 'source /home/local/svn/fejemis/ROS/catkin_ws/setup.bash' to change into this environment. Add that source command to the bottom of your ~/.bashrc to set it up every time you log in.
Put this script into ~/.bashrc, e.g. by
echo "source /home/local/svn/fejemis/ROS/catkin_ws/setup.bash" >> ~/.bashrc
Run catkin_make in the catkin_ws directory
cd ~/catkin_ws catkin_make
Autostart ROSCORE and bridge
Link the startup script to the root of user 'local'
cd ln -s svn/robobot/setup/start_bridge.sh ln -s catkin_ws/devel/lib/bridge/bridge ln -s
This script starts roscore and the bridge in this order.
Add the script to autostart at boot:
crontab -e
In the editor, add this line:
@reboot /home/local/start_bridge.sh
For info, the start script is executed as user 'local' and has the following content:
#!/bin/bash # start roscore and bridge # this script is added as a root cronjob # to see and edit the job # $ crontab -e # cd /home/local/ date >> rebootinfo.txt /usr/bin/roscore & # wait for ROSCORE to start sleep 8 #start the bridge (as daemon) ./bridge -d & echo "Bridge started with PID:" >> rebootinfo.txt sleep 1 pgrep -l bridge >> rebootinfo.txt exit 0
If all goes well, then the 'rebootinfo.txt' should end with something like this:
Sun 27 Nov 13:03:52 CET 2022 Bridge started with PID: 426 start_bridge.sh 617 bridge
If not you may see what cronjob is executed by:
grep CRON /var/log/syslog
Clone the just installed image
Use SD card clone/copier (on Raspberry??)
- rpi-clone script should work (not tested).
