Cook Book - install on 8 gig sd card Ubuntu 14.04 + ROS Indigo BBB

[Alan Federman]

Thanks to the help of the folks on this board, especially Robert:

Part 1 - history as regular user on Unix host machine - In my case a old AMD-64  laptop running Ubuntu 12.04 -

the 8 gig SD card had previous been formatted to a boot and regular partition, but the script run from this 

distribution will repartition and completely reformat the sd-card.

1937  wget https://rcn-ee.net/deb/rootfs/trusty/ubuntu-14.04-console-armhf-2014-08-13.tar.xz

1938  md5sum ubuntu-14.04-console-armhf-2014-08-13.tar.xz

1939  029df8a9afe211516b1e2ed9f4897b40  ubuntu-14.04-console-armhf-2014-08-13.tar.xz

1940  md5sum ubuntu-14.04-console-armhf-2014-08-13.tar.xz 

029df8a9afe211516b1e2ed9f4897b40  

 1942  tar xf ubuntu-14.04-console-armhf-2014-08-13.tar.xz

 1943  ls

 1944  rm *tar*

 1945  ls

 1946  cd ubuntu-14.04-console-armhf-2014-08-13/

 1947  ls

 1948  sudo ./setup_sdcard.sh --probe-mmc

 1949  sudo ./setup_sdcard.sh --mmc /dev/sdb --dtb beaglebone   

my card mounted as sdb yours might be different.

Pop the sd card out and then pop it back in.

sync

Rename the boot file so the card will boot to ubuntu, not the flash on the BBB.

mv /media/BOOT/bbb-uEnv.txt uEnv.txt

remove from laptop or host pc - insert in BBB logon ubuntu - temppwd

PART 2

Connect bbb to an ehernet router and use shh from another machine to log in.  

edit /etc/apt/sources.list  uncomment (edit out the # in front of debs for the alternates  (there are two)

sudo apt-get update

go to http://wiki.ros.org/indigo/Installation/UbuntuARM   I followed the instruction there.

after base install and rosdep - roscd worked

navigation stack said base would add 571MB

The following packages will be upgraded:

  libdbus-1-3

1 upgraded, 298 newly installed, 0 to remove and 18 not upgraded.

Need to get 138 MB of archives.

After this operation, 571 MB of additional disk space will be used.

Here is the history on the BBB:

    1  cd /etc/apt

    2  ls

    3  vi sources.list (edit the debs_

    4  sudo apt-get update

    5  sudo sh -c 'echo "deb http://packages.namniart.com/repos/ros trusty main" > /etc/apt/sources.list.d/ros-latest.list'

    6  wget http://packages.namniart.com/repos/namniart.key -O - | sudo apt-key add -

    7  sudo apt-get update

    8  sudo apt-get install ros-indigo-ros-base  (took about 45m)

    9  date  (I needed to reset because the BBB didn't have the correct time, and I was getting warnings - but this isn't crtical)

   10  cat /etc/os-release (check per instructions)

   11  sudo apt-get install python-rosdep

   12  sudo rosdep init

   13  rosdep update

   14  echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc

   15  source ~/.bashrc

   16  roscd

   17  sudo apt-get install ros-indigo-navigation

   18  sudo apt-get install python-rosinstall

   19  history

Test to see if roxcore and roscd work.

After that I created the catkin_ws, added ROS_ARDUINO_BRIDGE - and got that up and running.

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

cd ..

catkin_make

(edit ./bashrc  so last line is source ~/catkin_ws/devel/setup.bash

then make sure you source ~/.bashrc

cd /catkin_ws/src

git clone  https://github.com/hbrobotics/ros_arduino_bridge.git

cd ..

catkin_make  (takes about 5 minutes)

cd src/ros_arduino_bridge

(there is a README.md file there that has further instructions.

In brief, 

sudo apt-get install python-serial

sudo usermod -a -G dialout "Your_user_name"

cd ros_arduino_pyhton/config

 cp arduino_params.yaml my_arduino_params.yaml

edit my_arduino_params.yaml

and change ttyACM0  to ttyUSB0

roslaunch ros_arduino_python arduino.launch   

should run, assuming you have an arduino with the sketch loaded.

[Robert Nelson]

fyi: this flag passed to setup_sdcard.sh will name it as /uEnv.txt
automatically:

--bbb-old-bootloader-in-emmc

Regards,

--
Robert Nelson
http://www.rcn-ee.com/