Turtlebot3 Raspberry Pi Setup 20210113
From wikidb
Contents
References
- 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.
$ 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.
- 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
$ 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
