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

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