[PYTHON] Put ROS melodic in Raspberry Pi 4 / Buster

Qiitaに初投稿します。Ninagawa_Izumiです。なにかお役に立てれば。

things to do

Make ROS melodic work on Buster of Raspberry Pi 4. While referring to various places, I tried to describe it in an OK way if I keep typing shell commands anyway. I'm sure everyone can deploy the latest ROS environment as of January 2020.

What is ROS in the first place?

An open source platform aimed at promoting joint development of robot software on a global scale. Information such as sensors and actuators and simulators can be handled in an integrated manner.

Preparation / implementation environment

--Raspbian-Raspberry Pi 4 with Buster installed

• debian_version 7.8 --debian kernel Linux raspberry 4.19.75 --USB keyboard, USB mouse, HDMI display --Minimum knowledge about terminals

How to install

Open LXTerminal etc., copy and paste the code line by line, and press the return key repeatedly. Below, the code part (text on a black background) is a shell script that you type in the terminal. Is your Raspberry Pi 4 running? Let's type in more and more!

Environmental check and library update

How to check debian version

python

cat /etc/debian_version 

Result example> 7.8

How to check the kernel version

python

uname -a

Result example> Linux raspberry 4.19.75-v71 + Honyara

Package list updates and package upgrades

python

sudo apt-get update
sudo apt-get upgrade

If you are in a hurry, you may skip this item. It takes a lot of time. $ sudo apt-get updateWill do it again later $ sudo apt-get upgradeWill take a long time to complete.

Introduce ROS-melodic

Reference URL) https://www.instructables.com/id/ROS-Melodic-on-Raspberry-Pi-4-RPLIDAR/ Reference URL) http://wiki.ros.org/melodic/Installation/Debian

Add repository

python

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
sudo apt-get update

Install the required packages

python

sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential  cmake
sudo rosdep init
rosdep update

Create and move the ros_catkin_ws directory

python

mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws

Install ROS Desktop

python

rosinstall_generator desktop --rosdistro melodic --deps --wet-only --tar > melodic-desktop-wet.rosinstall
wstool init -j8 src melodic-desktop-wet.rosinstall

If the above installation stops prematurely, you can restart it with `` `$ wstool update -j4 -t src```.

Minor correction of dependencies

python

mkdir -p ~/ros_catkin_ws/external_src
cd ~/ros_catkin_ws/external_src
wget http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip
unzip assimp-3.1.1_no_test_models.zip
cd assimp-3.1.1
cmake .
make
sudo make install

Installation of OGRE for rviz

python

sudo apt-get install  libogre-1.9-dev

note

In the procedure explained in the reference URL, the file modification (boost :: posix_time :: milliseconds related) is instructed here, but it seems that it has already been modified by the package, so it is necessary as of January 2020 There is none.

Implementation of rosdep (it takes time here)

python

cd ~/ros_catkin_ws #20200226 Addendum
rosdep install --from-paths src --ignore-src --rosdistro melodic -y

Build and install (it takes more time here, about an hour?)

python

sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/melodic -j2
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

Reboot once.

python

sudo reboot

This completes the installation of ROS-melodic. If you can restart it, it's finally time to check the operation.

Launch roscore

python

roscore

Thank you for your hard work! If you see a display like this, ROSCORE is working. Congratulations.

By the way, turtlesim is also an operation test

Open a new terminal that is different from the one you opened for roscore and do the following:

python

rosrun turtlesim turtlesim_node

You should see a window with a small turtle.

Open another terminal and do the following:

python

rosrun turtlesim turtle_teleop_key

If you activate this terminal and press the cursor key, you can operate the turtle in the previous window.

In addition, rqt_graph is also tested

python

rosrun rqt_graph

The relationship between NODE and TOPIC flow is visualized.

You can even use rviz

python

rviz

I feel the power of Raspberry Pi 4 when starting at a second speed.

in conclusion

How was it? Did you successfully introduce ROS-melodic? I have implemented this procedure twice and it has been successful, but if there is something that does not work, please share it in the comment section. In this state, it is still difficult to use, so in the environment at hand, various settings are made to make it convenient for development. I also found some tips on how to back up SD, so I hope I can introduce it in another entry.

[Qiita] SD card backup and SD card selection for Raspberry Pi (Mac)