Latest revision as of 12:07, 4 February 2024

References

• SBC Setup
  • Note: Humble tab should be selected.
• Robotis Forum

Environment - Support Computer

• Note: I ran the following on Linux Linux support computer (sisters). This computer may or mau not be part of the robot execution environment.

Load Ubuntu on SD Card

Download and Install the Rashberry Pi Imager

• See section 3.2.2 of the SBC Setup page.
• Install Raspberry Pi OS using Raspberry Pi Imager

Failed: Webpage said run this command

 $ sudo apt install rpi-imager
     [sudo] password for eepp: 
     Reading package lists... Done
     Building dependency tree       
     Reading state information... Done

     No apt package "rpi-imager", but there is a snap with that name.
     Try "snap install rpi-imager"

     E: Unable to locate package rpi-imager

Succeeded: Note the instruction above to use snap.

 $ snap install rpi-imager
     rpi-imager 1.8.4 from Dave Jones (waveform) installed

Execute the rpi-imager utility

Choose the OS to be Loadnd on an SD card

 $ rpi-imager
     Gtk-Message: 15:21:31.585: Failed to load module "canberra-gtk-module"
     Gtk-Message: 15:21:31.586: Failed to load module "canberra-gtk-module"
     Qt: Session management error: Could not open network socket
     propsReply "An AppArmor policy prevents this sender from sending this message to this recipient; type=\"method_call\", sender=\":1.133\" (uid=1000 pid=4592 comm=\"/snap/rpi-imager/584/usr/local/bin/rpi-imager \" label=\"snap.rpi-imager.rpi-imager (enforce)\") interface=\"org.freedesktop.DBus.Properties\" member=\"GetAll\" error name=\"(unset)\" requested_reply=\"0\" destination=\"org.freedesktop.NetworkManager\" (uid=0 pid=860 comm=\"/usr/sbin/NetworkManager --no-daemon \" label=\"unconfined\")"
     nmReply "An AppArmor policy prevents this sender from sending this message to this recipient; type=\"method_call\", sender=\":1.133\" (uid=1000 pid=4592 comm=\"/snap/rpi-imager/584/usr/local/bin/rpi-imager \" label=\"snap.rpi-imager.rpi-imager (enforce)\") interface=\"org.freedesktop.NetworkManager\" member=\"GetDevices\" error name=\"(unset)\" requested_reply=\"0\" destination=\"org.freedesktop.NetworkManager\" (uid=0 pid=860 comm=\"/usr/sbin/NetworkManager --no-daemon \" label=\"unconfined\")"
     "Object path cannot be empty"
     qrc:/main.qml:785:9: QML QQuickItem: Binding loop detected for property "height"
     qrc:/main.qml:785:9: QML QQuickItem: Binding loop detected for property "height"
     qrc:/main.qml:785:9: QML QQuickItem: Binding loop detected for property "height"
     qrc:/main.qml:785:9: QML QQuickItem: Binding loop detected for property "height"

See section 3.2.3 of the SBC Setup page (Install Ubuntu 22.04).

• Raspberry Pi Device
• Operating System
  • Other general-purpose operating system
    • Ubuntu
      • Ubuntu Server 20.04.5 LTS(64-bit)
• Storage
  • Generic-SD/MMC/MS PRO - 15.9 GB

Save the OS to the SD Card

Install Ubuntu 22.04 on the Raspberry Pi

Environment - The SBC (Single Board Computer). The Raspberry Pi that will be mounted on the robot/

• Note: I ran this on Raspberry Pi Model 4 B hardware.

Standard linux install

A little playing

• "ifconfig" not installed - need to do a "sudo apt install net-tools"
• couldn't "statx" - I tried an "sudo apt install xinit". didn't work
• Changed password to my default

Configuring the Network

 cd /etc/netplan

Original

   $ cat 50-cloud-init.yaml
   # This file is generated from information provided by the datasource.  Changes
   # to it will not persist across an instance reboot.  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:
       ethernets:
           eth0:
               dhcp4: true
               optional: true
       version: 2

new

   $ cat 50-cloud-init.yaml 
   # This file is generated from information provided by the datasource.  Changes
   # to it will not persist across an instance reboot.  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:
       ethernets:
           eth0:
               dhcp4: true
               optional: true
       version: 2
       wifis:
           wlan0:
               dhcp4: true
               access-points:
                   zdome:
                       password: ********

Test

 $ ifconfig
   eth0: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
           ether dc:a6:32:e9:74:8a  txqueuelen 1000  (Ethernet)
           RX packets 0  bytes 0 (0.0 B)
           RX errors 0  dropped 0  overruns 0  frame 0
           TX packets 0  bytes 0 (0.0 B)
           TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

   lo: flags=73<UP,LOOPBACK,RUNNING>  mtu 65536
           inet 127.0.0.1  netmask 255.0.0.0
           inet6 ::1  prefixlen 128  scopeid 0x10<host>
           loop  txqueuelen 1000  (Local Loopback)
           RX packets 108  bytes 8874 (8.8 KB)
           RX errors 0  dropped 0  overruns 0  frame 0
           TX packets 108  bytes 8874 (8.8 KB)
           TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

   wlan0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
           inet 10.0.0.214  netmask 255.255.255.0  broadcast 10.0.0.255
           inet6 fe80::dea6:32ff:fee9:748b  prefixlen 64  scopeid 0x20<link>
           ether dc:a6:32:e9:74:8b  txqueuelen 1000  (Ethernet)
           RX packets 2278  bytes 265543 (265.5 KB)
           RX errors 0  dropped 1712  overruns 0  frame 0
           TX packets 428  bytes 65789 (65.7 KB)
           TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

 $

Configure Updates

change

 $ cat /etc/apt/apt.conf.d/20auto-upgrades 
     APT::Periodic::Update-Package-Lists "1";
     APT::Periodic::Unattended-Upgrade "1";

to

 $ cat /etc/apt/apt.conf.d/20auto-upgrades 
     APT::Periodic::Update-Package-Lists "0";
     APT::Periodic::Unattended-Upgrade "0";

Configure Bootup Delay

Set the systemd to prevent boot-up delay even if there is no network at startup.

 $ sudo systemctl mask systemd-networkd-wait-online.service
     Created symlink /etc/systemd/system/systemd-networkd-wait-online.service → /dev/null.

Disable Suspend and Hibernation

 $ sudo systemctl mask sleep.target suspend.target hibernate.target hybrid-sleep.target
     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.

 $ reboot

using copy and paste

• https://askubuntu.com/questions/961175/copy-and-paste-doesnt-work-in-the-terminal

Have you tried using Ctrl+Ins and Shift+Ins? I'm not sure about copying, but pasting works fine for me. Give it a try and EDIT your question if it doesn't work.

Install Binary ROS2 Humble Hawksbill

• Using Debians

See log on Sisters ~/notes24/sbc20240128.txt or

• notes24.sbc20240128.txt Rough log

Lets try Install Source ROS2 Humble Hawksbill

• Using Source