ROS navigation stack on ARM boards

[jsam...@pobox.com]

All,

I have done a lot of searching in the past and I haven't found an answer. My question is; Will ARM board "X" do an adequate job of running navigation on board? And "X" could be Raspberry Pi 2 or 3, Nvidia Jetson TK1 or any other board.

I find lots of tutorials for installing ROS. I see comments like, it MAY run navigation, or, it SHOULD run navigation. And usually I see the statement that you are better off running navigation on a remote computer.

I see various people in HBRobotics are using Raspberry Pi 2 on robots. Does anybody have comments or stories about running navigation on board the Raspberry Pi?

I was able to get navigation to "run" by slowing down loop rates and resolutions until it quit complaining about missing loop rates. But it didn't look like it was going to be usable. I didn't spend time adjusting individual parameters to improve it, I just changed back to a dual core laptop...

But now someone just asked me the question is response to a YouTube video I had posted. Again I find that searching does not turn up working examples.

So before I attempt this again I was wondering what results other people are having.

- Jeff Sampson

[Austin Hendrix]

I’ve run the turtlebot 2 on a Jetson TK1. Navigation worked well, but gmapping ran too slowly. Keep in mind, these are running on just the ARM cores; not using the GPU at all, and it was still able to run the Kinect driver, depthimage to laserscan, and navigation. (Quad core A15 @ approx 2GHz)

I’ve tried to run navigation on the pandaboard, and I had to decrease the map resolutions and the update rates to get it to run well, running only navigation and the hokuyo driver. (Dual core A9 @ 1GHz)

Navigation is difficult to compare and quantify because the performance and the processing requirements scale quadratically with the map resolution and map size (both local and global maps), and linearly with the number of sensors, and the sensor update rate. This means that navigation can run anywhere from one small ARM core to several large Xeon cores, depending on the configuration.

On top of the navigation stack itself, different sensors have wildly different compute requirements. While lidars are expensive, they require relatively little additional processing power in the drive. The Kinect and Asus sensors, by comparison, often require an entire CPU core just to process the incoming point cloud data into a format that is useful for the navigation stack.

So yes, without having your particular robot and your particular board, and without knowing your sensor configuration, the best answer I can give is that, given that the Pi 2 is about the same speed as my pandaboard, but with more cores, you SHOULD be able to run navigation on it.

-Austin

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[Patrick Goebel]

Hi Austin,

This is the best answer I have ever seen on this topic--so thanks!  I was wondering if you can also share any experience with video frame rates using any of these boards.  For example, if using a Kinect or Asus sensor at 320x240 resolution, what kind of frame rate and CPU load can we expect when doing something like OpenCV face detection or Camshift tracking for example? 

Thanks,
patrick

-- 
The Pi Robot Project
http://www.pirobot.org/wordpress

[Marco Walther]

On 03/13/2016 05:03 PM, Patrick Goebel wrote:
> Hi Austin,
>
> This is the best answer I have ever seen on this topic--so thanks! I was
> wondering if you can also share any experience with video frame rates
> using any of these boards. For example, if using a Kinect or Asus
> sensor at 320x240 resolution, what kind of frame rate and CPU load can
> we expect when doing something like OpenCV face detection or Camshift
> tracking for example?

One data point, my Odroid U3 (Cortex-A9 4*1.7GHz, 2GB RAM) was able to
find traffic cones in an image stream from a Logitech C920 @ 640x360
15fps or 864x480 10fps or 1024x576 7.5fps.

This was done with a very simple OpenCV program and the generic
libraries, so face detection would probably be slower than that.

I plan to play with the TK1, but don't have any results yet.

-- Marco

>> <mailto:jsam...@pobox.com> wrote:
>>
>>> All,
>>>
>>> I have done a lot of searching in the past and I haven't found an
>>> answer. My question is; Will ARM board "X" do an adequate job of
>>> running navigation on board? And "X" could be Raspberry Pi 2 or 3,
>>> Nvidia Jetson TK1 or any other board.
>>>
>>> I find lots of tutorials for installing ROS. I see comments like, it
>>> MAY run navigation, or, it SHOULD run navigation. And usually I see
>>> the statement that you are better off running navigation on a remote
>>> computer.
>>>
>>> I see various people in HBRobotics are using Raspberry Pi 2 on
>>> robots. Does anybody have comments or stories about running
>>> navigation on board the Raspberry Pi?
>>>
>>> I was able to get navigation to "run" by slowing down loop rates and
>>> resolutions until it quit complaining about missing loop rates. But
>>> it didn't look like it was going to be usable. I didn't spend time
>>> adjusting individual parameters to improve it, I just changed back to
>>> a dual core laptop...
>>>
>>> But now someone just asked me the question is response to a YouTube
>>> video I had posted. Again I find that searching does not turn up
>>> working examples.
>>>
>>> So before I attempt this again I was wondering what results other
>>> people are having.
>>>
>>> - Jeff Sampson
>>>
>>>
>

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[jsam...@pobox.com]

Thanks for the detailed response.The most encouraging thing I see is that you had navigation running on a Panda board.

Actually was I hoping somebody would say I'm running navigation on Raspberry Pi2B and works just fine... :-)

As far as my actual configuration, I currently have two robots (that I use). Both have a custom motor controller board based on an Atmel XMega chip. It accepts ROS type velocity messages and outputs ROS type odometry messages. I believe the resulting odometry values appear to be correct.

The small robot:

http://sampson-jeff.com/temp/DSCN0030a.jpg

http://sampson-jeff.com/temp/DSCN0032a.jpg

It has a Raspberry Pi 2B and has a Neato XV-11 scanner (@ 5 frames/sec) with the Get Surreal interface board. It has an Edimax WiFi module. It is running Ubuntu 14.04 LTS and ROS Indigo.

The big robot:

http://sampson-jeff.com/br/i00113a.jpg

It usually has a Dell D630 core two duo laptop (Ubuntu 14.04 LTS, ROS Indigo). But for my experiment I used the Raspberry Pi 2B from above. It has a SICK LMS-200 scanner (@ 10 frames/sec).

They both have the low overhead serial scan messages.

So if someone knowledgeable says it "SHOULD" work then I'll go try it again. I'll reread the ROS navigation tuning tutorials again to see if anything is new or I just simply missed something. And I'll read through each module (local_costmap, global_costmap, move_base...) and give it another try.

As far as the Prime Sense sensors, I can't get those to work either on Raspberry Pi 2B or Jetson TK1. (I see JetsonHacks is making the Jetson board work) I don't know if it is my ROS version or the drivers or something I misconfigured. Or maybe I need to trim down the amount of data it is trying to publish. If I try to display a point cloud in RVIZ the RPi takes about 6 seconds per frame. The Jetson takes about 2 seconds per frame. Both (Xtion 0600 and XBOX Kinect) work just fine on my I7 laptop. So that is another thing to track down some day...

- Jeff Sampson

---

From: 'Austin Hendrix' via HomeBrew Robotics Club <hbrob...@googlegroups.com>
To: hbrob...@googlegroups.com
Sent: Saturday, March 12, 2016 11:31 PM
Subject: Re: [HBRobotics] ROS navigation stack on ARM boards

[Wayne C. Gramlich]

On 03/13/2016 10:54 PM, jsam...@pobox.com wrote:
> Thanks for the detailed response.The most encouraging thing I see is
> that you had navigation running on a Panda board.
>
> Actually was I hoping somebody would say I'm running navigation on
> Raspberry Pi2B and works just fine... :-)

I'll be honest here, I was expecting a few of our members to chime in
and say that their BotVac's work just using the RasPi2. (Camp? Ralph?
others?)

> As far as my actual configuration, I currently have two robots (that
> I use). Both have a custom motor controller board based on an Atmel
> XMega chip. It accepts ROS type velocity messages and outputs ROS
> type odometry messages. I believe the resulting odometry values appear
> to be correct.

With Loki, we are of in a corner where we are trying to use sonars instead
of a Lidar. So far, we haven't gotten everything to work yet. If it doesn't
work, it will be because the sonars are not good enough to feed the local
cost map.

> The small robot:
> http://sampson-jeff.com/temp/DSCN0030a.jpg
> http://sampson-jeff.com/temp/DSCN0032a.jpg
> It has a Raspberry Pi 2B and has a Neato XV-11 scanner (@ 5 frames/sec) with
> the Get Surreal interface board. It has an Edimax WiFi module. It is running
> Ubuntu 14.04 LTS and ROS Indigo.

That is what all the BotVacs are running. It should work.

>
> The big robot:
> http://sampson-jeff.com/br/i00113a.jpg
> It usually has a Dell D630 core two duo laptop (Ubuntu 14.04 LTS, ROS Indigo).
> But for my experiment I used the Raspberry Pi 2B from above. It has a SICK
> LMS-200 scanner (@ 10 frames/sec).
>
> They both have the low overhead serial scan messages.
>
> So if someone knowledgeable says it "SHOULD" work then I'll go try it again.
> I'll reread the ROS navigation tuning tutorials again to see if anything is
> new or I just simply missed something. And I'll read through each module
> (local_costmap, global_costmap, move_base...) and give it another try.

Configuring the nav. stack still feels like voodoo to me. If it feels that
way to you, you are not alone.

> As far as the Prime Sense sensors, I can't get those to work either on Raspberry
> Pi 2B or Jetson TK1. (I see JetsonHacks is making the Jetson board work) I don't
> know if it is my ROS version or the drivers or something I misconfigured. Or maybe
> I need to trim down the amount of data it is trying to publish. If I try to display
> a point cloud in RVIZ the RPi takes about 6 seconds per frame. The Jetson takes
> about 2 seconds per frame. Both (Xtion 0600 and XBOX Kinect) work just fine on
>my I7 laptop. So that is another thing to track down some day...

Other than some turtle bots, not much has been done with prime sense recently...

[snippage]

Regards,

-Wayne

[Austin Hendrix]

Running rivz is a big CPU load all by itself, and running it onboard
will slow things down considerably. Use `rostopic hz` to measure the
frame rate instead.

I don't remember the exact parameters, but I was able to get the Kinect
working at about 15fps on the TK1. I mostly used dynamic_reconfigure to
adjust the VGA and depth image resolutions until I found a combination
that worked well - and oddly, I specifically remember that it wasn't the
lowest resolution.

Good luck
-Austin

On 03/13/2016 10:54 PM, jsam...@pobox.com wrote:

> ------------------------------------------------------------------------
> *From:* 'Austin Hendrix' via HomeBrew Robotics Club
> <hbrob...@googlegroups.com>
> *To:* hbrob...@googlegroups.com
> *Sent:* Saturday, March 12, 2016 11:31 PM
> *Subject:* Re: [HBRobotics] ROS navigation stack on ARM boards

> <mailto:jsam...@pobox.com> wrote:
>
>> All,
>>
>> I have done a lot of searching in the past and I haven't found an
>> answer. My question is; Will ARM board "X" do an adequate job of
>> running navigation on board? And "X" could be Raspberry Pi 2 or 3,
>> Nvidia Jetson TK1 or any other board.
>>
>> I find lots of tutorials for installing ROS. I see comments like, it
>> MAY run navigation, or, it SHOULD run navigation. And usually I see
>> the statement that you are better off running navigation on a remote
>> computer.
>>
>> I see various people in HBRobotics are using Raspberry Pi 2 on
>> robots. Does anybody have comments or stories about running
>> navigation on board the Raspberry Pi?
>>
>> I was able to get navigation to "run" by slowing down loop rates and
>> resolutions until it quit complaining about missing loop rates. But
>> it didn't look like it was going to be usable. I didn't spend time
>> adjusting individual parameters to improve it, I just changed back to
>> a dual core laptop...
>>
>> But now someone just asked me the question is response to a YouTube
>> video I had posted. Again I find that searching does not turn up
>> working examples.
>>
>> So before I attempt this again I was wondering what results other
>> people are having.
>>
>> - Jeff Sampson
>>
>>
>

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> <mailto:hbrob...@googlegroups.com>.

[Alan Federman]

I have run ROS by Example code on small robots on ARM computers (Beaglebone
Black, RPI 2, Tegra, and also in conjunction with various Lidars (Rhoeby,
SICK, XV-11.) These computers can run the the nav stack and Lidar OK over
WiFi because that data stream isn't that big. I assume you are using WiFi to
send the data from the mobile robot to a laptop or other device running
Rviz. This should work OK. I don't know if you also tried to do vision
processing on top of it, what would happen. I am guessing it depends how you
divide up the computation load vs the bandwidth of the communications link.
I am guessing the video would be jerky and might get buffered.

Some of you more clever hackers might figure out how to optimize ROS
processes running over multiple cores, but that is outside of my pay grade.
Another factor is, if your processor isn't big enough to do everything on
the robot, wait six months, and a new more powerful processor will be
available.

--------------------------------------------------
From: "'Austin Hendrix' via HomeBrew Robotics Club"
<hbrob...@googlegroups.com>
Sent: Sunday, March 13, 2016 11:38 PM
To: <hbrob...@googlegroups.com>
Subject: Re: [HBRobotics] ROS navigation stack on ARM boards

> email to hbrobotics+...@googlegroups.com.
> To post to this group, send email to hbrob...@googlegroups.com.

[jsam...@pobox.com]

At the time I was running RVIZ on the I7 laptop which was connected to the ARM board with an Ethernet cable.  I don't recall which computer I ran roscore, maybe I tried both. I did run 'rostopic hz', but it took me awhile to realize you have to say 'rostopic hz -w 1' to get the actual value. Otherwise it was averaging back to the beginning of time. The long term average made the results very mysterious. :-)

Maybe I will try my Kinect and Xtion again this week.

- Jeff Sampson

---

From: 'Austin Hendrix' via HomeBrew Robotics Club <hbrob...@googlegroups.com>
To: hbrob...@googlegroups.com
Sent: Monday, March 14, 2016 1:38 AM
Subject: Re: [HBRobotics] ROS navigation stack on ARM boards

[Jeffrey Cicolani]

I had the opportunity to talk to one of the ROS developers at SXSW yesterday on this very issue. He stopped by The Robot Group's (Austin, TX) booth and we started chatting after he heard I was using ROS on my Nomad project.

Apparently ROS has not been fully ported to 64bit ARM architecture yet. It's being worked on, but there are still some gaps. Specifically we talked about the issues experienced getting some packages to install properly and the inability to use apt-get install ros-??? for package installation. This is a known issue as demonstrated by the package installation instructions at the bottom of the wiki page.

Jeffrey Cicolani

Vice President; The Robot Group; http://therobotgroup.org

Game Coordinator; Chupacabracon; http://chupacabracon.com

See my most recent geekiness at www.cicolanistudios.com

"Power to the people powerful enough to crush the other people" Joss Whedon

"Always be yourself... unless you suck." Joss Whedon

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[jsam...@pobox.com]

I have been watching all of the HBRobotics meeting videos (I really appreciate the effort that went to posting those) and I had seen several robots that use a Raspberry Pi. But I always seem to miss the distinction between on-board or off-board navigation software. So it will  be interesting to hear which is used.

I knew you had sonars on the Loki. But I assumed you were using the camera and fiducials to do mapping and you were using the sonars just for obstacle avoidance. I wouldn't expect the sonars have enough resolution to create usable maps. So I will follow your progress on that.

I need to add sonar (or something else) because my robot bangs into things. Either because they are reflective or at the wrong height.

As far as Kinect sensors, that is the cheapest/easiest method I can think of to be able to see something on the floor and see those pesky table tops at the same time. I guess I could make a tilting base for either laser scanner. Or turn a sensor sideways and rotate it to create a full 3D view. But either method seems awfully slow. Maybe a normal scanner to navigate and tilting/rotating scanner to detect obstacles?

- Jeff

---

From: Wayne C. Gramlich <wayne.gra...@gmail.com>
To: hbrob...@googlegroups.com
Sent: Monday, March 14, 2016 1:14 AM
Subject: Re: [HBRobotics] ROS navigation stack on ARM boards

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[Tully Foote]

While there are not aarch64 builds of ROS at the moment, several of us have had success using a armhf chroot on aarch64 machines. This thread has some useful advice: https://groups.google.com/forum/#!searchin/ros-sig-embedded/chroot/ros-sig-embedded/eBrlbOX4dlM/TYJKyDr7AAAJ 

Tully

[Wayne C. Gramlich]

Jeff:

On 03/13/2016 11:43 PM, jsam...@pobox.com wrote:
> I have been watching all of the HBRobotics meeting videos (I really
> appreciate the effort that went to posting those)

A tip of our hats to our video team -- Bill Spangler and Mark Johnston.

> and I had seen several robots that use a Raspberry Pi. But I
> always seem to miss the distinction between on-board or off-board navigation
> software. So it will be interesting to hear which is used.

I believe that all of the BotVac's are using on-board RasPi2
navigation stacks.

> I knew you had sonars on the Loki. But I assumed you were using the camera
> and fiducials to do mapping and you were using the sonars just for obstacle
> avoidance.

That is correct. We need to generate local cost maps for the nav stack
to map around things.

> I wouldn't expect the sonars have enough resolution to create usable maps.

Room maps using our cheap HC-SR04 sonars would be an exercise in futility.

> So I will follow your progress on that.
>
> I need to add sonar (or something else) because my robot bangs into things.
> Either because they are reflective or at the wrong height.

I believe in bumpers as a last resort, but bumpers are surprisingly hard
to design into our more sophisticated robots.

> As far as Kinect sensors, that is the cheapest/easiest method I can think
> of to be able to see something on the floor and see those pesky table tops
> at the same time. I guess I could make a tilting base for either laser scanner.
> Or turn a sensor sideways and rotate it to create a full 3D view. But either
> method seems awfully slow. Maybe a normal scanner to navigate and tilting/rotating
> scanner to detect obstacles?

Obstacles are a choir. The general feeling is that the Asus sensor is easier
to work with because it generates data at a lower data rate. I'm not sure that
the Asus is still on the market.

Regards,

-Wayne

[Daniel Chalef]

Has anybody tried to use the Jetson's GPU for Kinect / (other RGBD camera) processing?

It looks like libfreenect2 supports CUDA 6.5:

https://github.com/OpenKinect/libfreenect2

And I came across the following. Looks somewhat dated though.

http://wiki.ros.org/rgbdslam

[jsam...@pobox.com]

I haven't done anything with the GPU on Jetson.

But I see the page http://wiki.ros.org/rgbdslam has a link to rgbdslam_v2 which says it supports Hydro and Indigo. I don't see mention of ARM, so it may not (easily) work on the Jetson board.

- Jeff Sampson

---

From: Daniel Chalef <daniel...@gmail.com>
To: HomeBrew Robotics Club <hbrob...@googlegroups.com>
Cc: jsam...@pobox.com
Sent: Monday, March 14, 2016 1:50 PM

Subject: Re: [HBRobotics] ROS navigation stack on ARM boards

[°|° Walt Perko °|°]

Hi,

 

So far I haven't seen anybody mention using a line laser and camera to create maps for navigation.  I've often thought that would be a neat way to map ahead … maybe at a 30° or 45° angle out a few feet in front of the bot. 

 

 

 

==============================================================================================
C U L8r,  °|°  Walt Perko  °|°        "Kids ... teach them the good stuff, and they still learn the bad stuff on their own."

http://www.Brainless.org/

                         "The World Needs a New Economic Model"
==============================================================================================

            Sent from the Cyber7

 

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[Alan Federman]

The Jetson is certainly powerful enough to run the navigation stack, but I'd consider the the tradeoffs.  It cost about 4 times a RPI-II, you'd need to add multiple USB ports and WiFi, and it requires a 12 volt power supply. It would be a good choice for a robot weighing over 10kilos. Jetson + a SICK+ camera could certainly be a potent Robomagellan contender.

 

A further note on RPI-II - you would need a powered USB hub if you are using and external Lidar like a Rhoeby.  Just not enough current to the USBs through the RPI.

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[Mark Johnston]

Well to follow up on Alans thoughts, the Pi3B is the only Pi I will buy for high end these days.  1.2GZ quad Cortex-A53 (64 bit vs 32) and ram clocked at twice the rate.  Same IO  PLUS WiFi and Bluetooth.  got mine today and running Ubuntu but only 32bit till somebody works out use of full width.   Anyway, I should think it may be able to cut the Nav stack suds requirements better than Pi2 to be less marginal and if only Lidar (not Kinect) is likely to be able to do the job.  Just a guess but that is my next goal.

[Rohan Agrawal]

Mark:

Which version of ubuntu did you use on the RPi3?

I couldn't get the Ubiquity Image (Ubuntu 14.04 with kernel 3.18 with patches) to go past the bootloader.

I got Ubuntu MATE (Ubuntu 15.10 with the Raspbian Kernel 4.1) to boot. 

Theoretically, you can put the 4.1 Raspbian kernel under Ubuntu 14.04, but I haven't tried.

 If you got Ubuntu 14.04 working on the Pi3, I am curious how.

Rohan

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[Mark Johnston]

Rohan:  Using same kernel you mention, ubuntu-mate-15.10.3-desktop-armhf-raspberry-pi-2.img  (extremely slow server to get it)

Have not run ROS on it yet, using it for something else so far but WiFi was there.  Bluetooth is known to not be quite ready on this kernel.

Having some grief getting SPI and I2C devices so in short term.

On a second Pi3B (non ROS) am running Raspian Jessie with good luck and that kernel also runs Bluetooth/Wifi fine and easily gets me SPI and I2C.

I'm thinking a new thread may be best for Raspberry Pi 3  on ROS but since I have nothing to add there yet am not going to start the thread now.

[Rohan Agrawal]

Moving to a new thread.

Ubuntu MATE 15.10.3 for the pi, uses the raspbian kernel 4.1.18. There is no ROS version currently targeting Ubuntu 15.10. So there are no OSRF binaries available for anything Ubuntu 14.04 on armhf.

In terms of Ubuntu MATE 15.10, I have had a similar experience, with wifi working pretty well.

Rohan

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Rohan

[Gopi Palaniappan]

I was able to get ROS up and running on Pi3B + Raspbian(Jessie)

I just pulled the SD card from Pi1B+ that had ROS into Pi3B and it booted fine and was able to run thru ROS turtlesim tutorials :)

Wifi works. Havn't tested BT or other features. I might just stick with Raspbian, now that i can use the same SDcard on multiple boards

On Wednesday, March 16, 2016 at 6:17:18 PM UTC-7, Rohan Agrawal wrote:

Moving to a new thread.

Ubuntu MATE 15.10.3 for the pi, uses the raspbian kernel 4.1.18. There is no ROS version currently targeting Ubuntu 15.10. So there are no OSRF binaries available for anything Ubuntu 14.04 on armhf.

In terms of Ubuntu MATE 15.10, I have had a similar experience, with wifi working pretty well.

Rohan

On Wed, Mar 16, 2016 at 11:57 AM Mark Johnston <mjst...@gmail.com> wrote:

Rohan:  Using same kernel you mention, ubuntu-mate-15.10.3-desktop-armhf-raspberry-pi-2.img  (extremely slow server to get it)

Have not run ROS on it yet, using it for something else so far but WiFi was there.  Bluetooth is known to not be quite ready on this kernel.

Having some grief getting SPI and I2C devices so in short term.

On a second Pi3B (non ROS) am running Raspian Jessie with good luck and that kernel also runs Bluetooth/Wifi fine and easily gets me SPI and I2C.

I'm thinking a new thread may be best for Raspberry Pi 3  on ROS but since I have nothing to add there yet am not going to start the thread now.

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[Alan Federman]

We tried an SD card from a Pi II in a Pi III   (Ubuntu 14.04/Indigo), and it would not boot.  I understand there currently is no ROS image that will work on PI III because ROS needs 14.04 and the PI III runs Ubuntu 15.05. Putting Pi III on the back burner for now.

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[Rohan Agrawal]

Gopi:

    Thats awesome! Did you have to compile ROS from source? If so how long did it take?

     A lot of us are trying to stick with Ubuntu, as it allows us to simply apt-get ros on the Pi.

Alan:

     Some Rpi2 images boot on the Pi3 (namely if they use the raspbian 4.1 kernel). The ubiquity image uses 3.18.

Rohan

On Fri, Mar 18, 2016 at 6:42 AM Alan Federman <anfed...@comcast.net> wrote:

We tried an SD card from a Pi II in a Pi III   (Ubuntu 14.04/Indigo), and it would not boot.  I understand there currently is no ROS image that will work on PI III because ROS needs 14.04 and the PI III runs Ubuntu 15.05. Putting Pi III on the back burner for now.

From: Gopi Palaniappan

Sent: Thursday, March 17, 2016 11:06 PM

To: HomeBrew Robotics Club

Subject: [HBRobotics] Re: ROS/Ubuntu on Pi3B

I was able to get ROS up and running on Pi3B + Raspbian(Jessie)

I just pulled the SD card from Pi1B+ that had ROS into Pi3B and it booted fine and was able to run thru ROS turtlesim tutorials :)

Wifi works. Havn't tested BT or other features. I might just stick with Raspbian, now that i can use the same SDcard on multiple boards

On Wednesday, March 16, 2016 at 6:17:18 PM UTC-7, Rohan Agrawal wrote:

Moving to a new thread.

Ubuntu MATE 15.10.3 for the pi, uses the raspbian kernel 4.1.18. There is no ROS version currently targeting Ubuntu 15.10. So there are no OSRF binaries available for anything Ubuntu 14.04 on armhf.

In terms of Ubuntu MATE 15.10, I have had a similar experience, with wifi working pretty well.

Rohan

On Wed, Mar 16, 2016 at 11:57 AM Mark Johnston <mjst...@gmail.com> wrote:

Rohan:  Using same kernel you mention, ubuntu-mate-15.10.3-desktop-armhf-raspberry-pi-2.img  (extremely slow server to get it)

Have not run ROS on it yet, using it for something else so far but WiFi was there.  Bluetooth is known to not be quite ready on this kernel.

Having some grief getting SPI and I2C devices so in short term.

On a second Pi3B (non ROS) am running Raspian Jessie with good luck and that kernel also runs Bluetooth/Wifi fine and easily gets me SPI and I2C.

I'm thinking a new thread may be best for Raspberry Pi 3  on ROS but since I have nothing to add there yet am not going to start the thread now.

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[Gopi Palaniappan]

Rohan,
   I used the instructions here to build ROS on Raspbian: http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi

It took me 3 days to build as it kept failing at various points as I had not applied the recommended patches :(
I also ran into swap issue and had to insert a USB stick and increase the default swap size. And each time it failed, it had to build from the beginning.
I also installed the full desktop+robot. So had about 204 pkgs to build.

Now that it's built, hopefully I don't have to build it ever again :)

I used a Pi1B+ to build the ROS. I did an apt-get upgrade to the latest. Interestingly, this sdcard boots a Pi1A, Pi1B+, Pi2 and Pi3. I could run ROS on all these boards making all my old boards useful now :)

I could only boot ubiquity Ubuntu image on Pi2B. All others would stall on the initial slash screen.

You should be able to update apt sources in Raspbian to include Ubuntu source list and download ROS? No? It's just another Debian source?

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[William Henning]

FYI:

Ubuntu requires ARMv7, so it will only run on RPi2 & RPi3

An RPi2 should build it ~7x faster, and may not need increased swap as it has 1GB of ram

An RPi3 should build it ~9x faster than an RPi1B+

Speed up approximations based on Emacs building benchmark results from my reviews:

RPi1B+  2782.0sec

Rpi2  403.8sec

Rpi3 318.0sec

Times obtained with

make clean

time make -j 4

I've been meaning to try ROS, so it is good to know the wiki build instructions work :)

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[Rohan Agrawal]

The Ubiquity Image doesn't have the appropriate kernel patches to get the Pi3 to boot.

I am working on upgrading the image to use the Raspbian 4.1 Kernel, which has all the Pi3 patches and more.

As for using the Ubuntu Repos with Raspbian:

     As Wayne points out, all of Raspbian is ARMv6. Ubuntu, and OSRF ROS binaries are ARMv7. There may be subtle problems with this.

     I am not sure if the versions of libraries in Debian Jessie are ABI compatible with the versions in Ubuntu.

   

Rohan

--

Rohan

[Aditya Pralhad Patil]

Hi Rohan ,

I'm curious if you, or anyone else has managed to get Ubuntu 14.04 with kernel 3.xx or 4.xx to load on RPi3.

I burnt my RPi2 recently, possibly due to a current surge from a 13000mAh Power Bank USB outlet and had to order a new one.

Please check this article: http://www.makeuseof.com/tag/upgrade-raspberry-pi-3/

If this works just as the way they claim it does- This could be our ultimate solution.

Please note that the upgrade is not reverse compatible and will not allow you to plug back your upgraded uSD card into either RPi2 or 1. Might wanna make a backup before you try.

Thanks and Let me know how it goes.

--Aditya

[Aditya Pralhad Patil]

Hi All,

My RPi2 went dead couple of days ago, possibly due to current surge from a 13000mAh, 5V 2A power bank's USB outlet. So I had to order a new one.

I'm curious to follow up on whether someone was able to get their Pi3 Running with Ubuntu 14.04 with whichever kernel versions i.e 3.xx or 4.xx.
I'm yet to tryout the instructions presented in this article for upgrading OS from Rpi1,2 to work on RPi 3.

http://www.makeuseof.com/tag/upgrade-raspberry-pi-3/

If it works exactly like the way they claim it does- This could be our solution.
Please do let me know if this works just fine.

--Aditya 

On Saturday, 12 March 2016 20:26:56 UTC-8, jsam...@pobox.com wrote:

[Aditya Pralhad Patil]

Okay..I tried the instructions from the link-after i did

sudo apt-get update

I get this:-

Err http://packages.ubiquityrobotics.com trusty InRelease                     
 
Err http://packages.ubiquityrobotics.com trusty Release.gpg     
  Unable to connect to packages.ubiquityrobotics.com:

http:
Fetched 3326 kB in 2min 0s (27.7 kB/s)
Reading package lists... Done
W: Failed to fetch http://packages.ubiquityrobotics.com/dists/trusty/InRelease 

W: Failed to fetch http://packages.ubiquityrobotics.com/dists/trusty/Release.gpg  Unable to connect to packages.ubiquityrobotics.com:http:

W: Some index files failed to download. They have been ignored, or old ones used instead.

---

It looks like either a firewall is blocking the update or has to do something with proxyport.
also I wanna try disabling third party updates from Software sources.

Hit Alt+F2, type software-properties-gtk and hit Enter for Software Sources.

More soon..

--Aditya

[Mark Johnston]

Aditya:    You are asking a couple things so maybe some of this will help.

I am running Ubuntu Mate 15.10.3 on one of my RPi3 units but it does not yet support bluetooth which I need so I stoped at that point.  That project is on hold for me.

On another RPi3 I'm doing most of my work on Raspian (to have bluetooth, SPI, serial) and this is a 4.1.19-v7+ kernel which is working really well BUT NOT ROS yet!

I know of nobody running Ubiquity Robotics kernel on RPi3 yet and see Rohan's post.   

The only report of ROS on RPi3 that is in this thread is on Raspian so not the Ubiquity Robotics Ubuntu 14.04 kernel

Lastly if you are having grief doing apt-get from Ubiquity Robotics are you sure you have added the repository in such places as this 

ubuntu@mjpi201:~/catkin_ws$ more /etc/apt/sources.list.d/ubiquityrobotics-latest.list

deb http://packages.ubiquityrobotics.com/ v4 main

Hope some of above is of assistance.   

[Aditya Pralhad Patil]

In the latest, I have the following developments:-

Since I was having trouble downloading packages from http://packages.ubiquity... when run

sudo apt-get update

on RPi2(now borrowed Pi2 from someone so I can get Neato/Ubiquity sd card working on Pi3 ).
Here are some of things that I tried:

1. use https://packages.ubi.. instead of http://packages.ubi.. : I forked ubiquity repos for _ main,_launches, _motor and included the tweaks in my github and cloned them in the Catkin source. ran catkin_make again hoping it'd include the updated files.
   It didn't work and gave same errors.
2. Made changes to the sources
   sudo nano /etc/apt/sources.list
   and removed universe and multiverse for updates and backports. that didn't work either and ended up with list locks.
   
   
   

[Aditya Pralhad Patil]

Hi Mark,

Thanks for the response.

Regarding the source- I had mine setup as

deb http://packages.ubiquityrobotics.com/ trusty main

I changed it to

deb http://packages.ubiquityrobotics.com/ v4 main

It didn't work.. But then, I changed it to https  and it started to load packages until it gave me an error :-

                       
Hit http://ports.ubuntu.com trusty/universe Translation-en                    
Ign https://packages.ubiquityrobotics.com v4 Release                          
Err https://packages.ubiquityrobotics.com v4/main armhf Packages
  Failed to connect to packages.ubiquityrobotics.com port 443: No route to host
Ign https://packages.ubiquityrobotics.com v4/main Translation-en
Fetched 641 kB in 10min 23s (1026 B/s)
W: Failed to fetch https://packages.ubiquityrobotics.com/dists/v4/main/binary-armhf/Packages  Failed to connect to packages.ubiquityrobotics.com port 443: No route to host

E: Some index files failed to download. They have been ignored, or old ones used instead.

[Rohan Agrawal]

It should be trusty main, but the server is down for the moment, so unless you are using 

packages from the Ubiquity apt-repo (probably not), go ahead and delete the deb source.

Once there is more stuff on the repo it would be useful to re-add it, but the box is currently down for

maintenance.

Rohan

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[Aditya Pralhad Patil]

Thanks Rohan!

I set it as trusty again, deleted the debian source- completed the update and distro upgrade.
All good, but the microsd card won't load Ubuntu 14.04  with Pi3 as expected. Which i think was evident since i read somewhere that Ubuntu 14.04 has not been updated with latest kernel  .

https://www.raspberrypi.org/forums/viewtopic.php?f=56&t=140372