NOTE: This repository has been archived, please refer to the newer pibot repository here.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 Noetic
would be compiled from source!
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
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.