Difference between revisions of "Turtlebot3 Raspberry Pi Setup 20210113"

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* [https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup Robotis Turtlebot3 eMnuall SBC Setup]
 
* [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 =
 
= Notes and Logs =
  
−
* [[Sisters Dell Setup ROS 2 Dashing 202101 Note and Log]]
+
* [[SBC Turtlebot3 Setup ROS 2 Dashing 202101 Note and Log]]

Latest revision as of 17:56, 21 January 2021

References

Prepare micoSD Card

 $ 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

 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.

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

$ 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"

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

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