Draft of automated configuration of Ubuntu Mate on RaspberryPi with ROS managin Dynamixel servos, Phidgets IMU and MoPi

raspbioloid_setup.py

# Aggiorno firmware rpi
sudo rpi-update

# Disabilito servizio non necessario
sudo systemctl disable ureadahead.service
sudo systemctl mask ureadahead.service

# Aggiunta repository ROS
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

# Aggiornamento, rimozione bloatware, installazione sw utile
sudo apt -y update
sudo apt -y upgrade
sudo apt purge -y firefox cups cups-* thunderbird scratch snapd ubuntu-mate-welcome vlc pidgin fonts-nanum youtube-dl minecraft-pi
sudo rm /etc/modules-load.d/cups-filters.conf
sudo apt install -y epiphany-browser ros-kinetic-desktop-full python-rosinstall python-rosinstall-generator python-wstool build-essential git libusb-dev synaptic
sudo apt autoremove
apt-cache search ros-kinetic

# Setup ROS
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
cd ~
mkdir -p ros_bioloid/src
cd ros_bioloid
catkin_make

# Creazione link simbolico USB2AX (non sopravvive al reboot, magari serve scriptarlo in .bashrc o come regola udev)
sudo ln -s /dev/ttyACM0 /dev/ttyUSB0

# Permetto l'interazione con la scheda Phidget
echo "SUBSYSTEMS==\"usb\", ACTION==\"add\", ATTRS{idVendor}==\"06c2\", ATTRS{idProduct}==\"0033\", MODE=\"666"\" | sudo tee /etc/udev/rules.d/99-phidgets.rules

# Permetto all'utente di interagire con le porte seriali
sudo adduser bioloid dialout

# Installazione Dynamixel (Libreria)
##cd ~
##git clone git@github.com:ROBOTIS-GIT/DynamixelSDK.git
##cd DynamixelSDK/c/build/linux_sbc
##make
sudo apt install ros-kinetic-dynamixel-sdk

# Installazione Dynamixel (modulo ROS)
sudo apt install ros-kinetic-dynamixel-workbench

# Installazione Phidgets (Libreria)
#cd ~
#wget https://www.phidgets.com/downloads/phidget22/libraries/linux/libphidget22.tar.gz
#tar -xvzf libphidget22.tar.gz
#cd libphidget22*
#make && sudo make install
#sudo ldconfig # to make shared libraries visible


# Installazione Phidgets (modulo ROS)
sudo apt install ros-kinetic-phidgets-api ros-kinetic-phidgets-imu ros-kinetic-phidgets-drivers ros-kinetic-imu-tools ros-kinetic-imu-filter-madgwick



#Installazione MoPi (Libreria e demone)
cd ~
git clone git@github.com:hamishcunningham/pi-tronics.git
cd pi-tronics/simbamon
make install

echo "dtparam=i2c_arm=on" | sudo tee -a /boot/config.txt

## https://github.com/raspberrypi/firmware/issues/828
wget https://doc-08-ao-docs.googleusercontent.com/docs/securesc/uq1b98lg749ksfs093hosj6khgfeao77/dv4t9enc0f69v817o5j845db94vtpi8n/1524139200000/16529539694801571760/14312737032246013555/0B_P-i4u-SLBXb3VlN0N5amVBb1k?e=download&nonce=js7rj0vs3anhq&user=14312737032246013555&hash=sjat2hks2h94qvb5t3suvkvm2p7rtdaq
sudo cp i2c1-bcm2708.dtbo /boot/overlays
echo "dtoverlay=i2c1-bcm2708" | sudo tee -a /boot/config.txt

head -n -1 /etc/default/simbamond > temp
echo "# wc1: -wc1 1 12000 11250 10500 9950" >> temp
echo "# end of local config - DON'T EDIT THIS LINE EITHER!" >> temp
sudo mv temp /etc/default/simbamond

sudo reboot