Raspberry and ROS
Back to Robobot
Do not use for now
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 Ubuntu 22.04 64 bit server (for now) 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
SSH from another computer
If the Raspberry has an IP of 192.168.2.39, then:
ssh local@192.168.2.39
Putty or other tools could be used too.
Install tools
Install subversion and other tools
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
sudo apt install ntp ntpdate libreadline-dev subversion libopencv-dev python3-pyqtgraph python3-scipy pyqt5-dev pyqt5-dev-tools festival sox libsox-fmt-all
NTP when on DTU net
Network time protocol, 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
... # 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, both on a DTU net and when internet is available elsewhere.
Sync time (if on DTU net)
sudo ntpdate -u ntp.ait.dtu.dk
Should work in and around DTU - see also NTP howto for more details.
Install ROS base
Will use Noetic (if it is ethical to do so).
Follow the instructions in 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
sudo apt install ros-desktop-full sudo apt install python3-rosinstall
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 for 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
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 a 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
Clone the just installed image
Use SD card clone/copier (on Raspberry??)
- rpi-clone script seems to work, but will not reboot.
