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RPi_setup_humble.md

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Raspberry Pi 4B 4Gb setup for ROS2 Humble

Note: I follow these instructions: https://articulatedrobotics.xyz/ready-for-ros-1-what-you-need/ which lead here: https://www.techradar.com/how-to/how-to-install-ubuntu-on-the-raspberry-pi then adapt them following these guidelines to port to Humble: https://www.youtube.com/watch?v=qoj5_fVBPII

Install ubuntu MATE 22.04

ROS2 Humble requires Ubuntu 22.04 Jammy Jellyfish (or derivative)

  1. Buy a 64Gb microSD card (as recommended here: https://ubuntu-mate.org/raspberry-pi/).

  2. Format the card FAT32. Not straightforward from a Windows 11 computer, which will insist you use exFAT formats for drives >32Gb. Command line: > format /FS:FAT32 E: seemed to be working but was veeery slow! Instead I did it in Ubuntu. Straightforward.

  3. Download the Ubuntu MATE 22.04.3 LTS arm64 image from here: https://ubuntu-mate.org/download/arm64/jammy/ You may want to verify the checksum (in Windows use> certutil -hashFile PATH-TO-FILE SHA256)

  4. Flash the image onto the card using e.g. balena etcher. A Windows portable version can be downloaded from here: https://etcher.balena.io/ and run by double-clicking. Flashing was reasonably fast, but verification failed, twice. I tried from linux instead and it worked the first time.

  5. Insert the SD card in the RPi, connect it to a keyboard, mouse, screen and power, switch it on, and follow the steps of the ubuntu MATE OS setup process. This takes time.

  6. Set up the network as part of the OS installation. Note I did not use netplan despite this recommendation

  7. Update and upgrade. This fixes some bugs with Welcome, Software Boutique and others, see: https://ubuntu-mate.community/t/ubuntu-mate-welcome-and-software-boutique-fail-to-run-with-similar-errors/25371):

$ sudo apt update
$ sudo apt upgrade

Also it is veery sloow.

At the end of this process some issues remain:

  • still no audio output from RPi HDMI despite I tried several fixes including selecting output, plugging on HDMI0 (from here), and modifying config files from here.

Install needed software

  1. git with: $ sudo apt install git
  2. arduino 1.8.19 for ARM with: $ sudo apt install arduino. Then add the user to the dialout group with $ sudo usermod -a -G dialout <username> then logout (GUI also asks for this, and reminds logout is required). Serial ports were not working due to a conflict with some Braille package, which needs deinstallling with $ sudo apt remove brltty cfr. https://www.youtube.com/watch?v=qoj5_fVBPII. Test with Blink and AnalogReadSerial from Examples/01. Basics
  3. ssh with: $ sudo apt install openssh-server get local IP address of bot with $ ip addr and write it down. Now we can remotely ssh from laptop with ssh <bot_username_bot>@<bot_addr> # e.g. [email protected]
  4. pyserial-miniterm (previously miniterm, note the change of name in 22.04) with: $ sudo apt install python3-serial
  5. install and configure vs-code ssh and arduino extensions to remotely flash arduino from RPi4 following these instructions: https://www.youtube.com/watch?v=2BJ-iJF04VA

Install ROS Humble

Follow these instructions: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

  1. If needed, set locale to support UTF-8 (in minimal environments (e.g. docker), the locale may be something minimal like POSIX)
$ locale  # check for UTF-8
$ sudo apt update && sudo apt install locales
$ sudo locale-gen en_US en_US.UTF-8
$ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
$ export LANG=en_US.UTF-8
$ locale  # verify settings
  1. Setup Sources

Add the ROS 2 apt repo: 1) ensure Ubuntu Universe repository is enabled, 2) add the ROS 2 GPG key with apt, and 3) add the repo to your sources list.

$ sudo apt install software-properties-common
$ sudo add-apt-repository universe #enable ubuntu universe repo

$ sudo apt update && sudo apt install curl -y
$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg #add gpg key

$ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null # add repo to sources
  1. Ensure your system is up to date before installing ROS2 packages. Always recommended, but particularly in 22.04 systemd and udev-related packages must be updated before installing ROS 2 or your system may crash.
$ sudo apt update && sudo apt upgrade
  1. Install ROS 2 Desktop Install which includes ROS, RViz, demos, tutorials.
$ sudo apt install ros-humble-desktop
  1. Install colcon
$ sudo apt install python3-colcon-common-extensions
  1. Source the ROS2 environment
$ echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
  1. Test communication between a C++ node running on the PC and a python node on the bot
$ ros2 run demo_nodes_py listener
...
[INFO] [1662750392.965285945] [listener]: I heard: [Hello World: 63]
[INFO] [1662750393.965151014] [listener]: I heard: [Hello World: 64]
[INFO] [1662750394.965403701] [listener]: I heard: [Hello World: 65]
...
(PC):$ ros2 run demo_nodes_cpp talker
...
[INFO] [1662750396.990408713] [talker]: Publishing: 'Hello World: 67'
[INFO] [1662750397.990414028] [talker]: Publishing: 'Hello World: 68'
[INFO] [1662750398.990288416] [talker]: Publishing: 'Hello World: 69'
...

Hurray! It works even with foxy on PC and humble on RPi!

Next steps:

Moving the robot

Continue following instructions here: https://www.youtube.com/watch?v=qoj5_fVBPII

Need to install some more dependencies:

$ sudo apt install ros-humble-ros2-control ros-humble-xacro

Create a workspace, clone repos and build

Clone: robot repo from manolobot (used "the good way", making a symlink, see https://github.com/mhered/manolobot/blob/main/Part-4-Simulation-Jan23.md), diffdrive from specific branch of buzzology fork and serial library from josh fork:

$ git clone https://github.com/mhered/manolobot.git
$ mkdir -p ~/robot_ws/src
$ ln -s ~/manolobot/manolobot_uno/ ~/robot_ws/src/

$ cd ~/robot_ws/src
$ git clone http://github.com/buzzology/diffdrive_arduino
$ cd diffdrive_arduino
$ git checkout 3883c00

$ cd ~/robot_ws/src
$ git clone http://github.com/joshnewans/serial

Then build and source workspace, run the node that listens for commands:

$ cd ~/robot_ws
$ colcon build --symlink-install
$ source install/setup.bash
$ ros2 run serial_motor_demo driver --ros-args -p serial_port:=/dev/ttyUSB0 -p baud_rate:=57600 -p loop_rate:=30 -p encoder_cpr:=1975

In the PC build workspace and run GUI:

(PC):$ cd dev_ws
(PC):$ source install/setup.bash
(PC):$ $ ros2 run serial_motor_demo gui

Hurray! Can control motor over ROS2 with PC in foxy and bot in humble!!

However, the original launch file does not work...

$ ros2 launch manolobot_uno launch_robot.launch.py 
[Some Error]
  • To do: find out what is wrong

Camera

  1. Connect the Pi camera. Note if camera was connected while the RPi was on, you may need to reboot.

  2. Reinstate the legacy camera driver from 20.04 (fix suggested by Josh Newan) by editing the following lines in the config file with (Rpi):$ sudo nano /boot/firmware/config.txt:

    ...
camera_auto_detect=0 # was 1, modified by MH to reinstate legacy camera driver
display_auto_detect=1
start_x=1 # added by MH to reinstate legacy camera driver
...

  3. Install sfw in Rpi ( v4l2-utils video driver library and ros node):

    $ sudo apt update
$ sudo apt upgrade
$ sudo apt install libraspberrypi-bin v4l-utils ros-humble-v4l2-camera

  4. If needed add the user to the video group:

    $ sudo usermod -aG video mhered
$ groups
mhered adm dialout cdrom sudo dip plugdev lpadmin sambashare

    Reboot for group changes to take effect

  5. Check the camera is detected and supported with:

$ vcgencmd get_camera
supported=1 detected=1, libcamera interfaces=0

If the RPi is connected to a screen you may check streaming with:

$ raspistill -k

Quit with x

Check if v4l (video for linux) can see the camera with:

$ v4l2-ctl --list-devices
bcm2835-codec-decode (platform:bcm2835-codec):
	/dev/video10
	/dev/video11
	/dev/video12
	/dev/media1

bcm2835-isp (platform:bcm2835-isp):
	/dev/video13
	/dev/video14
	/dev/video15
	/dev/video16
	/dev/media0

mmal service 16.1 (platform:bcm2835-v4l2):
	/dev/video0

Install image transport library and rqt_image_view:

$ sudo apt install ros-humble-image-transport-plugins ros-humble-rqt-image-view

Launch driver node:

$ ros2 run v4l2_camera v4l2_camera_node --ros-args -p image_size:="[640,480]" -p camera_frame_id:=camera_link_optical

Then launch rqt_image_view from the PC:

(PC):$ ros2 run rqt_image_view rqt_image_view

Hurray! the bot broadcasts video to the laptop!!

Note: it broadcasts only over /image_raw_compressed/

Other software and needed config fixes

See https://www.youtube.com/watch?v=qoj5_fVBPII

  1. fix screen rotation problem?
  2. Setup lidar? ros humble rplidar