Setting up ROS on a Raspberry Pi (intended to be the Rover -- OpenMower)

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Revision as of 06:47, 4 June 2022 by Tinker0436 (talk | contribs) (→‎Steps to install Raspberry Pi 4 with Ubuntu 20, ROS 1 and OpenMower: note on variant on catkin_make)
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Steps to install Raspberry Pi 4 with Ubuntu 20, ROS 1 and OpenMower

  • Use this as guide https://x-tech.online/2022/01/installing-ros-noetic-on-a-headless-raspberry-pi-4-with-ubuntu-20-04/
    • Use the Raspberry Pi official imager
    • Use Ubuntu Server 20.04.4 LTS (RPI 3/4/400), 64 bit for the RPi4 (or the latest LTS version of Ubuntu Server 20, it should probably work, since ROS Noetic is runnining on Ubuntu 20)
    • Follow the guide, doing upgrades before ROS install, sudo apt update, sudo apt upgrade
  • To get the ROS environment right in all your bash terminals: echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
  • Log out and in again to have ROS sourced in bash
  • Follow instructions in https://github.com/ClemensElflein/OpenMower/tree/main/ROS
    • Clone main repo, recursively git clone --recurse-submodules https://github.com/ClemensElflein/OpenMower
    • sudo apt install python3-rosdep
    • sudo rosdep init
    • rosdep update
    • cd ~/OpenMower/ROS/
    • rosdep install --from-paths src --ignore-src -y
  • catkin_make to build OpenMower. Note: Due to a missing dependency, you may need to do it 3-4 times before getting success. If continued application of catkin_make does not work, try using catkin_make -j1 -l1 a few times as well.

A note on Wifi

The instructions here work for installing an Ubuntu 20 with Wifi enabled: https://x-tech.online/2022/01/installing-ros-noetic-on-a-headless-raspberry-pi-4-with-ubuntu-20-04/. However, it takes one or two boots before the Pi comes up on Wifi. So use a terminal or ssh for the first couple of boots.