Installing MavROS on BeagleBone Black

[Jake]

All,

I just spent a while getting MavROS to work on the BeagleBone Black (BBB) so I thought I should share in case someone is running into the same problems. 

Specs:

Using BeagleBone Black

came with debian installed

Using ROS Hydro

Using the BBB for low level boat control so no image processing needed. 

Installations:

Before installing ROS I needed to get Internet working and get the clock to update.

Tethered Internet: http://stackoverflow.com/questions/19481415/share-the-internet-access-from-laptop-to-beaglebone-black-and-then-access-it-thr

Clock:http://derekmolloy.ie/automatically-setting-the-beaglebone-black-time-using-ntp/

Install ROS: 

http://wiki.ros.org/hydro/Installation/Source

Installed Bare bones

If you have problems finding the packages try:

 sudo nano /etc/apt/sources.list

deb [arch=armhf] http://debian.beagleboard.org/packages wheezy-bbb main

#deb-src [arch=armhf] http://debian.beagleboard.org/packages wheezy-bbb main

To:

#deb [arch=armhf] http://debian.beagleboard.org/packages wheezy-bbb main

#deb-src [arch=armhf] http://debian.beagleboard.org/packages wheezy-bbb main

run:

$sudo apt-get update

 

get APM. Note that I am using the AMProver2 code and installing it from my git account: 

http://dev.ardupilot.com/wiki/building-the-code/building-for-beaglebone-black-on-linux/

apt-get install git make gawk g++ arduino-core

cd ~

git clone https://github.com/TempleWaterfOWLS/ardupilot.git

cd ardupilot/APMrover2

make configure

make linux

Install mavros: http://erlerobotics.gitbooks.io/erlerobot/content/en/mavlink/ros/mavros.html

cd ~/catkin_ws

cd src

git clone https://github.com/vooon/mavros

cd ..

catkin_make_isolated --install-space /opt/ros/hydro/ --install

<maybe rm -rf mavro_extras b/c you don't need to run and they require cv_bridge?>

catkin_make_isolated will error  below should help fix

solves other errors <for all git repos switched to hydro repo using git checkout (branch name). find branch name using git branch -r>

cd ~/catkin_ws/src

git clone https://github.com/ros/rosconsole_bridge.git

git clone https://github.com/ros/angles.git

git clone https://github.com/mavlink/mavlink-gbp-release.git

git clone https://github.com/ros/geometry_experimental.git

cd geometry_experimental

rm-rf tf2_bullet

git clone https://github.com/ros/common_msgs.git

git clone https://github.com/ros/actionlib.git

git clone https://github.com/ros/pluginlib.git

git clone https://github.com/ros/class_loader.git

git clone https://github.com/ros-perception/image_common.git

rm -rf camera_calibration_parsers

rm -rf camera_info_manager/

eigen3 error

apt-get install libeigen3-dev

POCO error

apt-get install libpoco-dev 

SIP errors:

cd ~/install

wget http://sourceforge.net/projects/pyqt/files/sip/sip-4.16.5/sip-4.16.5.tar.gz

tar xvfz sip-4.16.5.tar.gz

cd sip-4.16.5

python configure.py

make

make install

resource_retriever_utest error (potentionally other weird errors too)

apt-get install libgtest-dev

tinyxml.h error

 apt-get install libtinyxml-dev

bzip2 missing headers

apt-get install libbz2-dev 

No Module named netifaces error

pip install netifaces 

  

to run:

start roscore: roscore

in new window start autopilot: ~/ardupilot/APMrover2/APMrover2.elf -A tcp:*:6000:wait

in new window start mavros: /opt/ros/hydro/lib/mavros/mavros_node _fcu_url:=tcp://192.168.7.2:6000

in new winod play around. List of things to play with: https://github.com/mavlink/mavros/blob/master/mavros/README.md

I hope that this is readable and doesn't get anyone into more trouble because this install is hard enough!

[Craig J. Elder]

Thanks for this Jake.  The next step is to get it into the dev wiki.  I have cc'd Hamish to bring it to his attention

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[Vladimir Ermakov]

Hi,

I think easier is switch to ROS Indigo and use precompilled binary.
See http://wiki.ros.org/indigo/Installation/UbuntuARM

That repo contains latest mavros releases, so `apt-get install ros-indigo-mavros`.
I used that on my wandboard quad and that method works fine for me (and easier than build ros again :))

четверг, 26 февраля 2015 г., 20:53:41 UTC+3 пользователь Jake написал:

[Hamish Willee]

Hi Jake (&Craig)

Thanks very much. Would it be possible for you to create the first draft of this on the wiki? - I was thinking as a peer of http://dev.ardupilot.com/wiki/building-the-code/building-for-beaglebone-black-on-linux/ - 

If so, do you already have wiki editor rights, if not, please email me and I'll grant you them!

What a wiki article has that isn't yet covered here is a little background about a) the architecture, b) the benefits of using Mavros - what it gets you and what alternatives might have been c). Any costs/downsides. d) Specific versions of various tools used here - e.g. Ubuntu build, Mavros version etc. 

Cheers

Hamish

On Fri, Feb 27, 2015 at 5:05 PM, Hamish Willee <hamish...@gmail.com> wrote:

Hi Jake (&Craig)

Thanks very much. Would it be possible for you to create the first draft of this on the wiki? - I was thinking as a peer of http://dev.ardupilot.com/wiki/building-the-code/building-for-beaglebone-black-on-linux/ - 

If so, do you already have wiki editor rights, if not, please email me and I'll grant you them!

What a wiki article has that isn't yet covered here is a little background about a) the architecture, b) the benefits of using Mavros - what it gets you and what alternatives might have been c). Any costs/downsides. d) Specific versions of various tools used here - e.g. Ubuntu build, Mavros version etc. 

Cheers

Hamish

[Víctor MV]

Agree with Vladimir, It's probably a good idea to switch to Indigo. We've done it and are happy with the results.

Cheers,

[Jake]

All,

Thanks for the feedback! I've been looking at what everyone involved with APM has been doing for a few years and I'm happy to finally be able to give back!

Vladimir and Victor,

We were going to us Indigo but we are using stereo vision to get distance measurements and the code from the manufacturer only compiles on Ubuntu 12.04. So we have one computer running 12.04 which is connected to the BeagleBone. Since Indigo isn't supported for 12.04 we switched to Hydro and felt that we should be consistent with our ROS versions.  

Hamish, 

I don't have editor privileges. I'm also not sure when I'll get to writing it but I'll give it a try!

-Jake