Raspberry Pi Code

apt-get

ros-kinetic-imu-filter-madgwick
ros-kinetic-robot-localization
ros-kinetic-joint-state-publisher
ros-kinetic-rosserial-arduino
ros-kinetic-rosserial

Manual libraries

IMU Library

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

• Build and install library and run calibration
• Build and install python library

Setup

Download Ubuntu Mate 16.04

https://ubuntu-mate.org/download/

ROS Setup process

http://wiki.ros.org/kinetic/Installation/Ubuntu

RTC

sudo nano /etc/modules Ensure the following are listed

i2c-bcm2708
i2c-dev

Download and install the PiFace RTC code.

https://github.com/piface/PiFace-Real-Time-Clock

Shutdown button

This library is used but with a modified pin of 26 and a shutdown timeout of 2 seconds https://github.com/scruss/shutdown_button

Startup environment

Ensure ~./bashrc contains

export ROS_IP=192.168.1.60
source /opt/ros/kinetic/setup.bash
#source ~/ros_catkin_ws/devel/setup.bash