pre-installed Operating Systems
You can use pre-installed operating systems either on a Virtual Machine (VM) or on a Raspberry PI3.
Updates to last version (for both VM and Raspberry)
Last version released: 1.8.0
The updates must be run on VM and (if any) on Raspberry.
0. To verify which version is installed on VM or Raspberry run:
1. Move to or create an
install folder in the home directory
If the folder does not exist (you have a very old version), create it and download the update script.
wget -N http://www.diag.uniroma1.it/~iocchi/marrtino/marrtino_update.py
2. Run the update script
3. Confirm update to new version (if you want) and use the following password when needed
4. Execute again the update script if needed to reach the latest version.
Virtual Machine (Before the import of the VM, install VirtualBox 5.2.x + Extension Pack 5.2.x)
Last version available: MARRtino-v1.8.0
User: ubuntu, Password: marrtino
1) Download boot and root images
2) Insert SD card and create 3 partitions (e.g. using gparted) as shown below
P1) fat16, 64 MiB, Flags: boot, lba, (/dev/mmcblk0p1, /dev/sdb1), label PI_BOOT
Sectors: First: 2048 Last: 133119 Total: 131072
* flags can be set after format
P2) ext4, 10000 MiB, (/dev/mmcblk0p2, /dev/sdb2), label PI_ROOT
Sectors: First: 133120 Last: 20613119 Total: 20480000
P3) ext4, 20.34 GiB, (/dev/mmcblk0p3, /dev/sdb3), label data
Sectors: First: 20613120 Last: 63272959 Total: 42659840
3) Download the write script - check that the device names are correct and modify the script if needed - run the following commands
$ sudo bash
$ ./writeimg.bash raspi3_marrtino_v1.2
4) Put SD card in Raspberry, (for first setup, attach HDMI cable to a monitor) and boot it
User: ubuntu, Password: marrtino
5) Configure the network if needed.
Manual installation of Operating System
For a full set-up of the system from scratch, follow these instructions. Skip this section if you have pre-installed OS.
Note: some experience in setting up Linux OS is required, the procedure may differ on specific machines.
Ubuntu 16.04 and ROS Kinetic
Ubuntu 14.04 and ROS Indigo
Raspberry Pi3 Model B (v1.2 2015)
Ubuntu Mate 16.04 and ROS Kinetic image
Raspbian Jessie and ROS Indigo from source
MARRtino Ubuntu Mate 16.04 image
- MARRtino image Raspberry PI3 v1.0 (3.3 GB) - User: ubuntu Password: raspberry
$ gunzip <image.gz>
$ sudo dd if=<image> of=<device> bs=1M
If you are using the Raspberry PI3 image provided above, you have to configure the network. The easiest way is to connect the raspberry to a monitor and use standard Ubuntu utilities to configure wireless networks.
SOFTWARE LIBRARIES & PACKAGES
NOTE: Skip this section if you have a pre-installed OS. The following packages are already installed in the MARRtino Virtual machine and in the image for Raspberry PI3.
OpenNI2 library for Xtion sensor
- OpenNI2 libraries - https://github.com/occipital/openni2
for Raspberry PI 3 use https://github.com/kalectro/OpenNI2
After compiling, do the following
- sudo mkdir /usr/lib/OpenNI2/Drivers
- sudo cp Bin/Arm-Release/OpenNI2/Drivers/lib* /usr/lib/OpenNI2/Drivers/
- Add to your .bashrc file
Download and run the script
Note: for using Kinect instead of Xtion try this link (not tested)
Do it only if you know what you are doing.
To update software packages:
- Go to the 'src' directory (cd ~/src)
- Go to the directory of the package you want to update
- Use the command 'git pull' to update the package
- Repeat steps 2 and 3 for every package you want to update
- Go to the 'ros/catkin' directory (cd ~/ros/catkin)
- Run 'catkin_make' (for Raspberry use 'catkin_make -j1' )