Software ROS Setup

Operating System Setup

Downloads:

Raspbian Line 2018 04 19, Ubuntu Mate 16.04

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Only for 3B+, with information from Raspberry Pi forums

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Copy to sd card - Linux instructions

unxz --keep <file> extract xz file

sudo fdisk -l print all disks, find /dev/mmcblk*** number (could be /dev/sd** if USB)

dd bs=4M if=<file.img> of=/dev/*** status=progress

!! warning, using the wrong /dev/*** could destroy your computer/OS (dd is sometimes called disk destroyer) !!

This could also take a bit of time as it copies over to the sd card

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Setup the system

(with a HDMI monitor, keyboard and mouse)

Turn off auto updates: System -> administration -> software & updates -> updates tab -> automatically check for updates: never

Uninstall software:

ctrl + alt + t Opens terminal

apt list --installed List all packages

sudo apt autoremove remove all old packages

sudo apt install debian-goodies use dpigs to show space

remove: sudo apt purge youtube-dl youtube-dlg thunderbird libreoffice-core libreoffice-common minecraft-pi brasero transmission-common deja-dup atril hexchat account-plugin-* galculator gnome-orca shotwell-common plymouth snapd squeak-*

sudo apt update updates software lists

sudo apt upgrade uses software lists to download new software, if run for first time can take a while (10+ minutes)

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sudo nano /boot/cmdline.txt remove "quiet splash" and "plymouth.ignore-serial-consoles" to show things loading unstead of an animation

sudo raspi-config configure raspberry pi, tab to use options below

interfacing options -> turn on camera and ssh

For the Raspberry Pi 3B+ (underclock)

sudo nano /boot/config.txt

set arm_freq=1200 reduces CPU power

long shutdown (due to cups-browsed and default timeouts):

sudo systemctl stop cups-browsed.service

sudo systemctl disable cups-browsed.service

/etc/systemd/system.conf -> DefaultTimeout{Start/Stop}Sec=10s (default 90s) speeds up shutdown

sudo date -s "YYYY-MM-DD HH:MM:SS" change time - use current timezone if not connected to the internet

readlink -f <file> reads the location of the file

ROS Installation

Use http://wiki.ros.org/kinetic/Installation/Ubuntu to install

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Setup the sources.list, and setup to allow packages.ros.org

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

sudo apt-get install ros-kinetic-desktop-full

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ROSARIA

Use http://wiki.ros.org/ROSARIA and the following instructions

Download https://github.com/reedhedges/AriaCoda, and use sudo make install to install it to the system

Download https://github.com/amor-ros-pkg/rosaria into the ~/catkin_src/src directory, and use catkin_make -j 1 to limit the threads or else the system crashes

sudo usermod -a -G dialout $USER Setup access to USB

sudo nano /etc/udev/rules.d/50-myusb.rules            Source - allow anyone to access the USB output

 KERNEL=="ttyUSB[0-9]*",MODE="0666"

 KERNEL=="ttyACM[0-9]*",MODE="0666"

 SUBSYSTEM=="tty",DRIVERS="pl2303",SYMLINK+="tty_p3"

 SUBSYSTEM=="tty",DRIVERS="ch341-uart",SYMLINK+="tty_adno"

The SYMLINK lines allow for a system link even if the ttyUSB change after a reboot. Use udevadm info --attribute-walk --path=/dev/ttyUSB* to get this information from the parent class of the device.

To start ROS, use roscore & and rosrun rosaria RosAria _port:=/dev/ttyUSB0 & (which could be in a bash script with sleep timers)

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SSH

raspi-config -> boot options -> cli boot after logging in, startx starts a GUI

sudo nano /etc/rc.local                     edit to run a script at boot time 

  bash /home/ros-pi/setup.sh &              #tells to run file and fork so it can run in background

nano /home/ros-pi/setup.sh Creates a file

!#/bin/bash

nmcli dev wifi hotspot ifname wlan0 ssid rpi-13 password "password"

chmod 755 <file> adds write permissions for user, read/exec for everyone

Reboot the Raspberry Pi, and then connect to the rpi-13 network with the given password

Note: it is not possible to use SSH though OSU_Secure, so a hotspot will need to be created (or an ethernet cord)

hostname -I | cut -d " " -f 1 gets the first part of IP address (hostname -I shows the IP address)

ssh ros-p3@10.42.0.1 connect from other machine to the pi, also connect to the wifi rpi-13 with password

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Streaming video from a camera

First, check the camera:

vcgencmd get_camera

raspistill -o file.jpg Tests the camera output, use xdg-open file.jpg to open the file

raspivid -fps 20 -w 1280 -h 720 -vf -hf -t 0 -o - | nc -l -p 5000 Starts the video streaming

netcat <ip address> 5000 | mplayer -fps 60 -cache 512 - on computer, where the ip address is of the RPi used to ssh into (10.0.0.42)