Rapsberry Pi Install ROS

本是古典何须时尚 2022-06-07 01:19 162阅读 0赞

# Rapsberry Pi Install ROS #

## 环境 ##

*  **Raspberry Pi 2B**
 *  **Ubuntu Snappy**

--------------------

## Install ROS ##

1.  First we need to download Ubuntu ARM image from  
    [https://wiki.ubuntu.com/ARM/RaspberryPi][https_wiki.ubuntu.com_ARM_RaspberryPi]
2.  Write image to SD card:  
    find sd card device (mine is /dev/sdg):  
    `fdisk -l`  
    write image to SD card using dd.  
    Dont forget that image is compressed:  
    `xzcat {image} | sudo dd bs=4M of=/dev/sdg`  
    ensure that image has been written:  
    `sudo fdisk -l /dev/{sdX}`
3.  Connect RPi to yor PC using ethernet cable
4.  Wait for a minute or so until RPi finished loading…
5.  Let’s find IP address of connected RPi:  
    `arp -a`
6.  Connect to RPi using ssh.  
    Default user/pass is ubuntu/ubuntu:  
    `ssh ubuntu@{your.ip}`
7.  After first login system will ask you to update password
8.  Let’s check if we have connection to Internet
9.  And update all packages:  
    `sudo apt update; sudo apt upgrade`
10. If you don’t use ubuntu cloud, you can remove cloud-init.  
    This will speed up boot:  
    `sudo apt remove cloud-init`
11. Also remove cloud dirs from /etc and /var/lib dirs:  
    `sudo rm -rf /etc/cloud; sudo rm -fr /var/lib/cloud`
12. Add ROS repository:  
    `sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'`
13. Setup keys:  
    `wget http://packages.ros.org/ros.key -O - | sudo apt-key add -`
14. Update package index:  
    `sudo apt update`
15. We will install ROS base. It is set of basic packages  
    for ROS:  
    `sudo apt install ros-kinetic-ros-base`
16. Initialise rosdep:  
    `sudo rosdep init; rosdep update`
17. Set up the ROS environment variables:  
    `echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc`  
    `source ~/.bashrc`
18. Modify `/etc/hosts`
    
        ubuntu@ubuntu:~$ cat /etc/hosts
        127.0.0.1 localhost
        127.0.0.1 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
19. And check that ROS is correctly installed:  
    `roscore`

## 配置WiFi ##

> wifi\_dhcp.sh

ubuntu@ubuntu:~$ cat wifi_dhcp.sh
    #!/usr/bin/env bash
    
    sudo apt -y install wpasupplicant
    
    echo "allow-hotplug wlan0" > wlan0.cfg.tmp
    echo "iface wlan0 inet dhcp" >> wlan0.cfg.tmp
    echo '    wpa_ssid "YOUR_WIFI_SSID"' >> wlan0.cfg.tmp
    echo '    wpa_psk "YOUR_WIFI_PASSWORD"' >> wlan0.cfg.tmp
    echo "" >> wlan0.cfg.tmp
    
    sudo mv wlan0.cfg.tmp /etc/network/interfaces.d/wlan0.cfg

> wifi\_static.sh

ubuntu@ubuntu:~$ cat wifi_static.sh
    #!/usr/bin/env bash
    
    sudo apt -y install wpasupplicant
    
    echo "allow-hotplug wlan0" > wlan0.cfg.tmp
    echo "iface wlan0 inet static" >> wlan0.cfg.tmp
    echo '    address 192.168.1.151' >> wlan0.cfg.tmp
    echo '    netmask 255.255.255.0' >> wlan0.cfg.tmp
    echo '    gateway 192.168.1.100' >> wlan0.cfg.tmp
    
    #because my router is rubbish and doesn't provide DNS service
    echo '    dns-nameservers 8.8.8.8' >> wlan0.cfg.tmp
    
    echo '    wpa_ssid "YOUR_WIFI_SSID"' >> wlan0.cfg.tmp
    echo '    wpa_psk "YOUR_WIFI_PASSWORD"' >> wlan0.cfg.tmp
    echo "" >> wlan0.cfg.tmp
    
    sudo mv wlan0.cfg.tmp /etc/network/interfaces.d/wlan0.cfg

[https_wiki.ubuntu.com_ARM_RaspberryPi]: https://wiki.ubuntu.com/ARM/RaspberryPi