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09-native-ros.md

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Guide to Cross Compilation for a Raspberry Pi

  1. Start
  2. Setup XCS and RPi
  3. Setup RPi Network and SSH
  4. Setup RPi Peripherals
  5. Setup Cross-compile environment
  6. Cross-compile and Install Userland
  7. Cross-compile and Install OpenCV
  8. Cross-compile and Install ROS
  9. Compile and Install OpenCV
  10. > Compile and Install ROS
  11. Remote ROS (RPi node and XCS master)
  12. ROS package development (RPi/XCS)
  13. Compile and Install WiringPi

10. Cross-compile and Install ROS

TO BE UPDATED. GUIDE MIGHT STILL WORK.

The key idea of this guide is to have a RPi running as a node in a ROS network. Of this network, the core shall be running in the VM, hence we also need to install ROS locally. Most of the steps of this guide are described at the ROS wiki

Required Packages

As ROS is installed via apt-get, no additional packages need to be installed.

Compilation

  1. Ensure the VM is able to connect with the ROS repository

    XCS~$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
XCS~$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
XCS~$ sudo apt-get update

  2. Install ROS-Desktop (omitting similations etc.)

    XCS~$ sudo apt-get install ros-kinetic-desktop
XCS~$ rosdep update

Synchronisation

No synchronisation is required.

Testing

Prerequisites:

Steps:

  1. Set bash to use the native-ros settings

    XCS~$ source ~/rpicross_notes/scripts/ros_native

  2. Compile the helloros code without the toolchain.

    XCS~$ mkdir -p ~/build/hello/ros
XCS~$ cd ~/build/hello/ros
XCS~$ cmake ~/rpicross_notes/hello/ros/
XCS~$ make

  3. Open a second terminal.

    1. Launch roscore in the first

      XCS~$ source ~/rpicross_notes/scripts/ros_native
XCS~$ roscore
  ... logging to /home/pi/.ros/log/9c219342-0fc9-11e7-b1fd-08002741e196/roslaunch-XCS-rpizero-2600.log
  Checking log directory for disk usage. This may take awhile.
  Press Ctrl-C to interrupt
  Done checking log file disk usage. Usage is <1GB.

  started roslaunch server http://XCS-rpizero:45758/
  ros_comm version 1.12.7


  SUMMARY
  ========

  PARAMETERS
   * /rosdistro: kinetic
   * /rosversion: 1.12.7

  NODES

  auto-starting new master
  process[master]: started with pid [2611]
  ROS_MASTER_URI=http://XCS-rpizero:11311/

  setting /run_id to 9c219342-0fc9-11e7-b1fd-08002741e196
  process[rosout-1]: started with pid [2624]
  started core service [/rosout]

    2. Launch helloros in the second

      XCS~$ source ~/rpicross_notes/scripts/ros_native
XCS~$ ~/build/hello/ros/devel/lib/helloros/helloros
  [ INFO] [1490274566.925321564]: hello world 0
  [ INFO] [1490274567.026256196]: hello world 1
  [ INFO] [1490274567.125635032]: hello world 2
  [ INFO] [1490274567.225916579]: hello world 3
  [ INFO] [1490274567.325554161]: hello world 4
  ...

Code for this test is partially taken from http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber(c%2B%2B)