Scorpi
From Rsewiki
Contents |
Overview
Development nodes
Raspberry pi
Raspberry pi 5 installation
- enable serial IO hardware (GPIO pin 14,15) - but it doesn't seem to work on pi-5, can't read or write.
Install packages:
libreadline-dev libopencv-dev libgpiod-dev gpiod cmake subversion aptitude ntp ntpdate nmap lsof swig sudo apt install libreadline-dev libopencv-dev libgpiod-dev gpiod cmake subversion aptitude nmap lsof swig
YDLidar (S4B)
YDlidar serial connected like this:
YDLIDAR cable color Raspberry 1 Vcc (5V) black 4 (5V) 2 Tx red 10 (GPIO 15) (RxD) 3 Rx white 8 (GPIO 14)(TxD) 4 Gnd Yellow 6 (Ground) 5 M_SCP Orange 18 (GPIO 24) 6 Dev_enable Green 16 (GPIO 23) 7 M_enable Blue 12 (GPIO 18) 8 NC Purple 14 (ground, to use all pins)
Software YDLidar-SDK
From Git repository
$ mkdir -p git $ cd git $ git clone https://github.com/YDLIDAR/YDLidar-SDK.git $ cd YDLidar-SDK $ mkdir build $ cd build $ cmake .. $ make -j4
Ros2 Iron
Base
Add en_DK.UTF-8 in this list
$ sudo dpkg-reconfigure locales
Then run
$ sudo update-locale LC_ALL=en_DK.UTF-8 LANG=en_DK.UTF-8 $ export LANG=en_DK.UTF-8
Follow "Enable required repository" and "Install development tools" from https://docs.ros.org/en/iron/Installation/Alternatives/Ubuntu-Development-Setup.html
Note, I got:
E: Malformed entry 1 in list file /etc/apt/sources.list.d/ros2.list (Component) E: The list of sources could not be read.
Then I modified /etc/apt/sources.list.d/ros2.list
sudo nano /etc/apt/sources.list.d/ros2.list
by adding "bookworm" near the end of the line
deb [arch=arm64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu bookworm main
The bookworm from
$ lsb_release -sc
Ros2
Get ROS 2 code from https://docs.ros.org/en/iron/Installation/Alternatives/Ubuntu-Development-Setup.html
It takes some time to do the vcs (version control system) from vcstool:
vcs import --input https://raw.githubusercontent.com/ros2/ros2/iron/ros2.repos src
