Standalone ROS Setup

Owned by Imre Kerekes
Last updated: 2020.07.13 by Daniel Jecan
4 min read

Contents

Install OS on Raspberry Pi 4

 

You can use for example: gnome-disks

sudo apt-get install gnome-disk-utility

Open the downloaded image with gnome disk writer, you will see a same pop-up window as in picture below.

  • Insert the SD card, mouse, keyboard, Ethernet cable, monitor. After this step you can plug in t the raspberry Pi and wait for configurations.

Install ROS on Raspberry Pi 4

 

  • Step 1: Install Dependencies and Download the Packages

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Initialize rosdep and update it

When that’s done create a dedicated catkin workspace for building ROS and move to that directory.

Desktop Install: includes GUI tools, such as rqt, rviz, and robot-generic libraries.

The command will take a few minutes to download all of the core ROS packages into the src folder.

If wstool init fails or is interrupted, you can resume the download by running:

  • Step 2: Fix the Issues

Install the compatible version of Assimp (Open Asset Import Library) to fix collada_urdf dependency problem.

Install OGRE for rviz:

Use the rosdep tool for installing all the rest of the dependencies:

  • Step 3: Build and Source the Installation

Build the catkin packages

Try launching roscore to check if everything was successful.

  • Step 4: Creating new workspace for other packages

Install additional packages:

Download and Install the ar_monitor Package

 

Download from Bitbucket the ros-melodic-ar-monitor-armhf.deb file:

https://bitbucket.org/NGi-Systems/ros2ar/downloads/

Install the Debian file:

Try launching the ar_monitor launch file to check if everything was installed successfully:

If the previous command throws an error, you have to install the additional packages:

 

Make the status_server Script Start-up Program

Install additional start up manager

Create auto.sh file

Open auto.sh file and add the following code:

Create the roslaunch file in /usr/sbin/ folder:

Insert this:

Create the roslaunch.service file in /etc/systemd/system/ folder:

Insert this:

Create roscore.service file in /etc/systemd/system folder

Insert this:

Make the created scripts executable:

Use terminal to run the command:

Click on “+“ icon and add the roslaunch.service file.

 

Attach the Monitor to Raspberry Pi

  • Plug-in the HDMI cable on raspberry pi

  • Plug-in the USB cable into raspberry pi

  • Power-up the raspberry pi

  • Configure the monitor resolution (if need)

 

 

Acknowledgements

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: ROSIN.

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.