In this tutorial, we will setup the latest ROS(Robot Operate System) on the popular single board computer Raspberry Pi 3.
- Download image on RPi
Get an image from: https://wiki.ubuntu.com/ARM/RaspberryPi
Burn image on SD card with official tutorial https://www.raspberrypi.org/documentation/installation/installing-images/README.md
with lsb_release -a we have
Distributor ID: Ubuntu
Description: Ubuntu 16.04 LTS
Release: 16.04
Codename: xenial
- Boot on RPi
login: ubuntu passwd: ubuntu
a compulsive change passwd is needed
if you don't have monitor you can search devices with arp -a and ssh into
if you previous login ssh-keygen -R hostname
- Configure RPi
I found cloud-init is a bottleneck when boot, so I disabled by create a file
sudo touch cloud-init.disabled
And also if there is error of unknow hostname ubuntu try to add
a line after localhost sudo vi /etc/hosts 127.0.1.1 ubuntu
and you final hosts file should like this
127.0.0.1 localhost
127.0.1.1 ubuntu
# The following lines are desirable for IPv6 capable hosts
::1 ip6-localhost ip6-loopback
fe00::0 ip6-localnet
ff00::0 ip6-mcastprefix
ff02::1 ip6-allnodes
ff02::2 ip6-allrouters
ff02::3 ip6-allhosts
- Install ROS
Follow the generic installation guide on http://wiki.ros.org/kinetic/Installation/Ubuntu
roscore and you would see
started roslaunch server http://ubuntu:44447/
ros_comm version 1.12.6
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.6
NODES
auto-starting new master
process[master]: started with pid [1627]
ROS_MASTER_URI=http://ubuntu:11311/
- Other useful packages and setup
pigpio
- Other setup Disable daily update and upgrade of Ubuntu 16.04. Daily update and security upgrade was introduced to Ubunutu 16.04 and it sometimes cause dpkg lock problem. We can disable by
$ sudo systemctl disable apt-daily.service # disable run when system boot
$ sudo systemctl disable apt-daily.timer # disable timer run
As the time of 25 Jan 2017, this approach break down because the automatic security update & upgrade mechanism. https://bugs.launchpad.net/ubuntu/+source/linux-raspi2/+bug/1652270
systemd manager GUI of systemd