Raspberry and ROS
Back to Robobot
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 python3-serial # USB communication 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 python3-serial 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 like this:
Setup your computer to accept software from packages.ros.org.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Set up your keys
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
Update package list with the new source
sudo apt update
but it may fail with "The repository 'http://packages.ros.org/ros/ubuntu jammy Release' does not have a Release file."
The repository adds a file /etc/apt/sources.list.d/ros-latest.list. Modify the line in that file to include [trusted=yes], like:
sudo nano /etc/apt/sources.list.d/ros-latest.list deb [trusted=yes] http://packages.ros.org/ros/ubuntu bullseye main
Then redo the (a few failed to fetch is OK)
sudo apt update
Install ros-desktop-full-dev or ros-desktop-full and a bit more to use a Catkin workspace:
sudo apt install ros-desktop-full python3-rosinstall libmap-msgs-dev
Install ROS 2 base
NB! do not use ROS2 for Robobot on Raspeberry Pi in 2023 version!, not compatible
Using "humble" version.
In general, follow the instructions at http://wiki.ros.org/noetic/Installation/Ubuntu like this:
Set up keys
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
Add package source
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
Update package list with the new source
sudo apt update sudo apt dist-update
Install in the ros-desktop version:
sudo apt install ros-humble-desktop and ??? sudo apt install python3-rosinstall 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
Teensy firmware compile
NB! this procedure requires that the Raspberry is allowed to show graphics, i.e. use the '-X' option when ssh to the Raspberry. This is to install teensyduino and upload code to Teensy itself. All other steps are command-line only.
Download Arduino from https://www.arduino.cc/ ; find the software and download version 1.8.19 for Linux arm 32 bit.
Download also TeensyduinoInstall.linuxarm and 00-teensy.rules from https://www.pjrc.com/teensy/td_download.html - again the arm 32 bit version
Assuming these files end in the Downloads directory, then
cd cd Downloads tar -zf arduino-1.8.19-linuxarm.tar.xz
Arduino is now ready to run, but we need the Teensy addition, so:
sudo cp 00-teensy.rules /etc/udev/rules.d/ chmod +x TeensyduinoInstall.linuxarm ./TeensyduinoInstall.linuxarm
This should start the Teensyduino installer, guide the installation to the Arduino.1.8.19 just unpacked and install all packages.
We need some extra packages; we put them in a new 'git' directory:
cd mkdir git git clone https://github.com/adafruit/Adafruit_SSD1306.git git clone https://github.com/adafruit/Adafruit-GFX-Library.git git clone https://github.com/adafruit/Adafruit_BusIO.git
Next, these libraries need to be put where the Makefile looks for them, so link as follows:
cd cd Downloads/arduino-1.8.19/hardware/teensy/avr/libraries ln -s ~/git/Adafruit-GFX-Library ln -s Adafruit-GFX-Library Adafruit_GFX_Library ln -s ~/git/Adafruit_SSD1306 ln -s ~/git/Adafruit_BusIO
(The GFX library needs to be renamed to use '_' for '-' for some strange Arduino reason)
Modify Makefile
Modify the Makefile (in regbot/regbot, regbot/regbot/4.1, regbot/regbot/3.5 as needed)
Modify the BASEPATH to the Arduino/Teensyduino library about line 31 of the Makefile (for Robobot it should work as is):
ARDUINO_ROBOBOT := $(shell ls -d /home/local/Downloads/arduino-1.8.19/hardware 2>/dev/null) ifeq ($(ARDUINO_ROBOBOT),) # home installation - modify as needed BASEPATH := /home/chr/Downloads/arduino/arduino-1.8.19/hardware else # raspberry pi based RoboBot BASEPATH := /home/local/Downloads/arduino-1.8.19/hardware endif
This change is actuated, as my development tool (Kdevelop) failed to work with the previous symbolic links, but it is also a more standard solution.
Using symbolic links
This method is deprecated for REGBOT/ROBOBOT, and will not work with svn version newer than version 1561!
To tell the Regbot code where the libraries and tools are found, making even more links:
cd cd svn/regbot/regbot ln -s /home/local/Downloads/arduino-1.8.19/hardware/teensy/avr/libraries ln -s /home/local/Downloads/arduino-1.8.19/hardware/teensy/avr/cores/teensy3 ln -s /home/local/Downloads/arduino-1.8.19/hardware/teensy/avr/cores/teensy4 ln -s /home/local/Downloads/arduino-1.8.19/hardware/tools ln -s tools/teensy
Compile and upload
Now it should be possible to compile the Teensy firmware. It is a Teensy 4.1, so:
cd 4.1 make -j3
The option '-j3' requests using 3 CPU cores; it is faster but eats memory and heats up the CPU. If that seems to be a problem, then use a lower number.
To install the newly compiled regbot.hex:
Press the (red) power button on the Regbot board (to maintain power while the processor is reprogrammed)
make upload
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 home directory of user 'local' as well as a link to the bridge executable and the initialization-file used by the bridge.
cd ln -s svn/robobot/setup/start_bridge.sh ln -s catkin_ws/devel/lib/bridge/bridge ln -s svn/robobot/setup/bridge.ini
This script starts roscore and the bridge in this order.
Add the script to autostart at boot:
crontab -e
Select an editor; if asked, I have selected 'nano' (an ok simple editor) In the editor, add this line:
@reboot /home/local/start_bridge.sh
End with ctrl-s to save and ctrl-x to exit (if nano is the editor)
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 a daemon) ./bridge -d & echo "Bridge started with PID:" >> rebootinfo.txt sleep 1 pgrep -l bridge >> rebootinfo.txt exit 0
Reboot
sudo reboot now
Reenter
ssh -X local@<IP>
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
Rename host to match robot
When the robot bridge gets the robot name from the Regbot board, it writes the name in a hostname file in the local home directory. At the next boot, this file is used to rename the hostname of the Raspberry pi.
Create the script that triggers the rename in /etc/init.d
sudo nano /etc/init.d/robobot_rename.sh
Enter the following line into the new file
bash /home/local/svn/robobot/setup/rename_host.sh
Exit the editor (ctrl-s + ctrl-x) and make the script executable, and add it to run-level 2 (before networking is started)
sudo chmod +x /home/local/rename_host.sh ln -s /etc/init.d/robobot_rename_test.sh /etc/rc2.d/s99robobot_rename
The script
Clone the just installed image
Use SD card clone/copier (on Raspberry) Attach an extra USB based SD-card read/writer
use rpi-clone to make a copy of the running SD-card.
(takes about 5 minutes, depending on the SD-card speed)
