BFMC - Brain ROS Project

The project includes the software already present on your SD cards. It has all the pre-given packages and examples on how to communicate with them. The pre-installed sd card is already set-up to communicate with the demo scripts inside the ECC-BFMC/Computer project. The sd-card just has the scripts set to run at start-up (to communicate with the Computer project). If you wish to remove this configuration (for when you start developing), just clena out the /etc/rc.local file.

By following the next steps, you can create a clean instalation of the OS and ROS on your car.

1. Download the Raspbery Pi Imager on your OS.

software

If you are unfamiliar with Linux and ROS, we suggest starting with the desktop versions of the SWs and later migrate to the lite versions.

2. Mount Raspbian

With the help of Raspbery Pi Imager, mount the Raspbery py Debian Buster OS (Legacy) on the SD card. Don't forge to set the SSH Connection to true,

3. Connect to the raspbery pi:

Insert the card in the raspbery and power it up. Check the Raspbery IP on the network: The easiest way is either to use nmap for scanning the network or directly connect to your router. Use ssh to connect to the raspbery with the given IP: ssh [email protected]

4. Add the ROS Debian repo to the OS

	sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-noetic.list'

5. Add official ROS key

To validate that the downloaded file is the needed one, you need to add the verification key

	sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

6. Pull all meta info from ROS noetic packages

	sudo apt-get update && sudo apt-get upgrade

7. Install build dependencies

	sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake

8. Install pip3

	sudo apt install python3-pip

9. Install opencv:

	sudo apt install libopencv-dev python3-opencv

10. Setup ROS dependency sources/repos

	sudo rosdep init
	rosdep update

11. Fetch and install ROS dependencies

	mkdir -p ~/ros_catkin_ws
	cd ~/ros_catkin_ws

	rosinstall_generator ros_comm sensor_msgs cv_bridge --rosdistro noetic --deps --wet-only --tar > noetic-ros_comm-wet.rosinstall 
	wstool init src noetic-ros_comm-wet.rosinstall

	rosdep install -y --from-paths src --ignore-src --rosdistro noetic -r --os=debian:buster

12. Compile ROS packages

Since the ROS project is resource consuming, it is also recommended, but not mandatory, to increase the swap memory to 1 GB. You can decrease it afterwards. By following the same steps and setting it back to 100

	sudo dphys-swapfile swapoff

	sudoedit /etc/dphys-swapfile

CONF_SWAPSIZE=1024

	sudo dphys-swapfile setup

	sudo dphys-swapfile swapon

	sudo src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/noetic -j1 -DPYTHON_EXECUTABLE=/usr/bin/python3

Don't forget to set back the swap memory.

13. Source the environment and set it run at the start of any new terminal communication.

	source /opt/ros/noetic/setup.bash
	echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

14. Verify the installation

	roscore

15. Fix missing package

	sudo apt install libatlas-base-dev

16. clone the given ROS project

	git clone https://github.com/ECC-BFMC/Brain_ROS.git

17. Install python dependencies

	pip3 install -r requirements_rpi.txt
	sudo apt install -y python3-picamera

18. Set up the i2c communication for the IMU by following the Setting up the Raspberry Pi side from this tutorial:

	https://github.com/RPi-Distro/RTIMULib/tree/master/Linux 

19. Build and run the prepared project

	catkin_make

	source devel/setup.bash

	roslaunch utils run_automobile.launch

20. For additional topics, check the official ROS documentation for Raspbery Pi:

http://wiki.ros.org/ROSberryPi/

21. If you wish to install additional ROS packages after the installation, you will have to:

cd ~/ros_catkin_ws

sudo rm -rf build_isolated/ devel_isolated/ src/

sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake

rosinstall_generator name_of_new_pkg --deps --exclude RPP > new_pkg.rosisntall

wstool init src new_pkg.rosisntall

sudo -s

nano /root/.bashrc

add source /opt/ros/noetic/setup.bash

source /root/.bashrc

catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/noetic

nano /root/.bashrc

remove source /opt/ros/noetic/setup.bash

exit