quantumxt / ros-pibot

A simple 2 wheel robot powered by ROS, Arduino & Raspberry Pi 3.

ros-pibot

NOTE: This repository has been archived, please refer to the newer pibot repository here.

A simple 2 wheel differential drive robot powered by ROS, Arduino & Raspberry Pi 3.

Tested on Raspbian GNU/Linux 10 (buster), ROS Noetic Installation.

ROS Installation

ROS Noetic would be compiled from source!

Prerequistes

Add the Noetic repo list:

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

Add the ROS key:

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

Update & check whether the Debian package index is up-to-date:

$ sudo apt update
$ sudo apt upgrade

Prepare (and install) the dependencies:

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

Initialise rosdep:

$ sudo rosdep init
$ rosdep update

Compilation

Create a catkin_ws to compile ROS source.

$ mkdir -p ~/ros_catkin_ws
$ cd ~/ros_catkin_ws

wstool would be used to fetch the core packages so we can build them. We would be using the ROS-Comm variant plus the navigation packages. (This does not come with GUI tools like rviz and rqt)

$ rosinstall_generator ros_comm  navigation --rosdistro noetic --deps --wet-only --tar > noetic-ros_comm-nav-wet.rosinstall
$ wstool init src noetic-ros_comm-nav-wet.rosinstall

After that, resolve all required dependencies.

$ cd ~/ros_catkin_ws
$ rosdep install -y --from-paths src --ignore-src --rosdistro noetic -r --os=debian:buster

Finally, we'll be building the workspace with catkin_make_isolated.

$ sudo src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/noetic -j2 -DPYTHON_EXECUTABLE=/usr/bin/python3

-j parameter specifies the number of processor(s) to be used, it works fine for -j2, but above that the system could get stuck while compiling as it runs out of memory.

References

• ROS Wiki
• VarHowTo