The project includes the software already present in the Brain project and it gives a good startup point for starting developing your car with ROS.
If ROS is running on the car, you can also interact from the car with the official simulator by followint the Simulator guide in order to publish/subscribe on it's topics(Camera, movements, posiiton, etc.)
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.
a. Peripherals approach (connect keyboard, monitor and mouse attached) b. Remote approach (VNC or SSH connection). The following lines are explaining the ssh aproach i. You can set up the network by creating a wpa_supplicant.conf file under boot (SD card).
ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev update_config=1 country=RO
network={ ssid="SSID" psk="Passwd" }
ii. You can enable the ssh and the i2c connection by creating a file ssh. another file i2c. and a file camera. under boot (SD card).
iii. Scan the network for your new IP when you power up te RPi
iv. You can connect to the RPi IP from any terminal with the command ssh pi@192.168..
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-noetic.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update && sudo apt-get upgrade
sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake
sudo apt install python3-pip
sudo apt install libopencv-dev python3-opencv
sudo rosdep init rosdep update
mkdir -p ~/ros_catkin_ws cd ~/ros_catkin_ws
Lite version: 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
Desktop version rosinstall_generator desktop --rosdistro noetic --deps --wet-only --tar > noetic-desktop-wet.rosinstall wstool init src noetic-desktop-wet.rosinstall
rosdep install -y --from-paths src --ignore-src --rosdistro noetic -r --os=debian:buster
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
source /opt/ros/noetic/setup.bash
roscore
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
sudo apt install libatlas-base-dev
pip3 install -r requirements_rpi.txt
pip3 install numpy --upgrade
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
http://wiki.ros.org/ROSberryPi/
catkin_make
source devel/setup.bash
roslaunch utils run_automobile_remote.launch
It will run the same brain project only in ROS variant. If you want to test it remotely you can run the remotecontroltransmitter and camerareceiver from the startup project (don’t forget to edit the IP’s from CameraTransmitterProcess on rpi and the remotecontroltransmitterProcess from the remote).
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