View source for Turtlebot3 Raspberry Pi Setup 20210126

= References =

* [https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup Robotis Turtlebot3 eMnuall SBC Setup]
* Section 3.2 SBC Setup

= Prepare micoSD Card =
* Section 3.2.1 
* Download the ubuntu-18.04.3-preinstalled-server-arm64+raspi3.img.xz image for your SBC from the links below.
** [http://old-releases.ubuntu.com/releases/18.04.3/ubuntu-18.04.3-preinstalled-server-arm64+raspi3.img.xz Ubuntu 18.04.3 Preinstalled Server ARM64 for Raspberry Pi3]

  $ cd TB3Install
 
  TB3Install$ mv ~/Downloads/ubuntu-18.04.3-preinstalled-server-arm64+raspi3.img.xz .
 
  TB3Install$ unxz < ubuntu-18.04.3-preinstalled-server-arm64+raspi3.img.xz > ubuntu-18.04.3-preinstalled-server-arm64+raspi3.img

* Run the Disks application
** To find it go to the "Show Applications" icon in the bottom left corner of the desktop.
** Search for "Disks"
* In the upper right corner of the Disks app window is a "hamburger" menu (3 horizontal lines). 
* Select the "Restore Disk Image" menu item 
* Do what makes sense

== Useful References ==

* [https://askubuntu.com/questions/92328/how-do-i-uncompress-a-tarball-that-uses-xz How Do I Uncompress a Tarball that Uses xz]

  If for some reason the tar solutions don’t work (perhaps because you’re using the OS X built-ins), try this: 
    unxz < file.tar.xz > file.tar
 
  which is equivalent to:
    xz -dc < file.tar.xz > file.tar
 
  Then use tar to untar the file.

* https://www.maketecheasier.com/backup-hard-drive-gnome-disk-utility/ Backup Hard Drive Gnome Disk Utility]

= Boot Up the Raspberry Pi=

* Section 3.2.2

= Configure the Raspberry Pi =

* Section 3.2.3
* I believe this is what I did but I couldn't capture my keystrokes

Log into the Pi

* username: ubuntu
* passwd: ubuntu which I changed

Disable Automatic update 

  $ sudo nano /etc/apt/apt.conf.d/20auto-upgrades

Change the update settings

  APT::Periodic::Update-Package-Lists "0";
  APT::Periodic::Unattended-Upgrade "0";

Configure wifi (I had trouble with the syntax and indention so it took a few tries0

  $ sudo nano /etc/netplan/50-cloud-init.yaml

<pre>
$ cat /etc/netplan/50-cloud-init.yaml
# This file is generated from information provided by
# the datasource.  Changes to it will not persist across an instance.
# To disable cloud-init's network configuration capabilities, write a file
# /etc/cloud/cloud.cfg.d/99-disable-network-config.cfg with the following:
# network: {config: disabled}
network:
    version: 2
    ethernets:
        eth0:
            dhcp4: true
            match:
                macaddress: b8:27:eb:0b:5d:ce
            set-name: eth0
network:
  version: 2
  renderer: networkd
  ethernets:
    eth0:
      dhcp4: yes
      dhcp6: yes
      optional: true
  wifis:
    wlan0:
      dhcp4: yes
      dhcp6: yes
      access-points:
        "xxx":
          password: "xxx"
</pre>

Apply configuration

  $ sudo netplan apply
  $ reboot

Prevent  boot-up if no network setup

  $ systemctl mask systemd-networkd-wait-online.service
         unit sleep.target does not exist, proceeding anyway

Disable Suspend and Hibernate

  $ sudo systemctl mask sleep.target suspend.target hibernate.target hybrid-sleep.target
         Created symlink /etc/systemd/system/hybrid-sleep.target → /dev/null.

Enable SSH

  $ sudo apt install ssh
 
  $ sudo systemctl enable --now ssh
 
  $ reboot

== Ops ==

'''TBD''' Check this out. I did this on Sisters (Remote PC) by mistake

  $  sudo systemctl mask sleep.target suspend.target hibernate.target hybrid-sleep.target
        [sudo] password for eepp: 
        Created symlink /etc/systemd/system/sleep.target → /dev/null.
        Created symlink /etc/systemd/system/suspend.target → /dev/null.
        Created symlink /etc/systemd/system/hibernate.target → /dev/null.
        Created symlink /etc/systemd/system/hybrid-sleep.target → /dev/null.

= Add Swap Space =

* Section 3.2.4

  $ sudo swapoff /swapfile
      swapoff: /swapfile: swapoff failed: No such file or directory
  
  $ sudo fallocate -l 2G /swapfile
  
  $ sudo chmod 600 /swapfile
 
  $ sudo mkswap /swapfile
         Setting up swapspace version 1, size = 2 GiB (2147479552 bytes)
         no label, UUID=95adf48c-622b-418f-95ee-0918a19da735
         ubuntu@ubuntu:~$ sudo swapon /swapfile

'''TBD''' Missed doing this at swap creation. Now I can't. Does this mean the swap came on at boot???

  $ sudo swapon /swapfile
         swapon: /swapfile: swapon failed: Device or resource busy
  
Append "/swapfile swap swap defaults 0 0" to the end of this file

 $ sudo nano /etc/fstab
  
 $ sudo free -h
                      total        used        free      shared  buff/cache   available
        Mem:           912M        106M        618M        4.4M        187M        786M
        Swap:          2.0G          0B        2.0G
 
 $ cat /etc/fstab 
        LABEL=writable	/	 ext4	defaults	0 0
        LABEL=system-boot       /boot/firmware  vfat    defaults        0       1
        /swapfile swap swap defaults 0 0

= install ROS Dashing Diademata = 

* Section 3.2.5

Update and upgrade our software

  $ sudo apt update
        ...
 
  $ sudo apt upgrade
        ...
Setup local

  $ sudo locale-gen en_US en_US.UTF-8
         Generating locales (this might take a while)...
           en_US.ISO-8859-1... done
          en_US.UTF-8... done
        Generation complete.
 
  $ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
 
  $ export LANG=en_US.UTF-8

Setup sources

  $ sudo apt install curl gnupg2 lsb-release
        ...
 
  $ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
 
  $ sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

Install ROS 2 packages

  $ sudo apt update
        ...
 
  $ sudo apt install ros-dashing-ros-base
        ...

= Install ROS Packages =

* Section 3.2.6

  $ sudo apt install python3-argcomplete python3-colcon-common-extensions libboost-system-dev build-essential
        ...
 
  $ sudo apt install ros-dashing-turtlebot3-msgs
        ...
 
  $ sudo apt install ros-dashing-dynamixel-sdk
        ...
 
  $ mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/srcmkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/srcmkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/srcmkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/srcmkdir -p ~/turtlebot3_ws/src && cd ^C
 
  $ mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
 
  $ git clone -b dashing-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
        ...
 
  $ cd ~/turtlebot3_ws/src/turtlebot3
 
  $ rm -r turtlebot3_cartographer turtlebot3_navigation2
 
  $ cd ~/turtlebot3_ws/
 
  $ echo 'source /opt/ros/dashing/setup.bash' >> ~/.bashrc
 
  $ source ~/.bashrc

'''Errors''': in Raspberry Pi console for the following but it compiled successfully

  $ colcon build --symlink-install --parallel-workers 1
        ...
        ...
        Starting >>> turtlebot3_bringup
        Finished <<< turtlebot3_bringup [11.0s]                          
        Starting >>> turtlebot3
        Finished <<< turtlebot3 [11.2s]                          
                             
        Summary: 6 packages finished [11min 52s]

These were 18 errors on the Pi console similar to the following. They were not in the remote PC's ssh window

  mmcblk0: error -22 transffering data, sector 2080384, nr 8, cmd response 0x900, card status 0,0

and also this one

  kworker/3:1 ... blocked for more than 120 seconsd
       Tainted: G    W 4.15.0- 1077 - raspi2 #82-ubuntu

= Environment Setup =
* Section 3.2.7

  $ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
 
  $ source ~/.bashrc

= Who are We=

  $ cat /proc/device-tree/model 
        Raspberry Pi 3 Model B Plus Rev 1.3

= SD Storage =

I saved a backup image of the Pi SD card on the remote PC. it takes about 17% of the PC's storage

I checked how much of the Pi SD's 16GB storage is use. It looks like about 37%. See below

  $ df
        Filesystem     1K-blocks    Used Available Use% Mounted on
        udev              450572       0    450572   0% /dev
        tmpfs              93404    4512     88892   5% /run
        /dev/mmcblk0p2  15021764 5240780   9130784  37% /
        tmpfs             467000       0    467000   0% /dev/shm
        tmpfs               5120       0      5120   0% /run/lock
        tmpfs             467000       0    467000   0% /sys/fs/cgroup
        /dev/mmcblk0p1    258095  107443    150652  42% /boot/firmware
        tmpfs              93400       0     93400   0% /run/user/1000



= Notes and Logs =

* [[SBC Turtlebot3 Setup ROS 2 Dashing 20210126 Note and Log]]