InstallingRaspberryPi

Setup Ubuntu for RPI

To begin, install ubuntu mate for arm64

WIP

Attach the hat. Alternatives include Waveshare RS485 CAN HAT

edit .bashrc to include:

export ROS_MASTER_URI=http://192.168.1.100:11311/
export ROS_IP=192.168.1.102

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash

edit the files /boot/config.txt, syscfg.txt, and usercfg.txt to enable spi for raspberry pi boards

the line:

dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25 Update oscillator frequency according to your hat, same with the interrupt pin

Connect the Ethernet cables for the RPI and the main computer to the router. The router should automatically allocate the IP for each device accordingly.

Please make sure the router IP is also in the same domain of 192.168.1.xxx, ideally 192.168.1.1 should be the router's IP

Run rostopic list or rostopic echo \TEST_TOPIC_PUBLISHER to check if the ROS network has successfully connected.

WIP