Raspberry Pi Code

apt-get

ros-kinetic-imu-filter-madgwick ros-kinetic-robot-localization

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 16.04 - unofficial build https://wiki.ubuntu.com/ARM/RaspberryPi

https://medium.com/a-swift-misadventure/how-to-setup-your-raspberry-pi-2-3-with-ubuntu-16-04-without-cables-headlessly-9e3eaad32c01

RTC

sudo nano /etc/modules Ensure the following are listed

i2c-bcm2708
i2c-dev

Download and install the Piface RTC code

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