Dragonboard

[Shawn Schaerer]

Anyone manage to get ROS on the Dragonboard 410C?

[Paul Mathieu]

Hi Shawn,

ROS Indigo is working fine for me on a Dragonboard 401c.

Since they don't provide Ubuntu Trusty images, I had to make my own, but it's not a very complicated process.

The catch is that the dragonboard uses arm64 binaries, at least on the images available online.

The good news is that you can install armhf binaries on it, and they will run fine.

A quick summary of the steps:

- extract a working linux kernel from a working image. An arm64 kernel will work fine.

- prepare a trusty root fs on an armhf qemu chroot, with qemu-debootstrap

- populate the root fs with what you are going to need: wifi drivers, X server & desktop environment, ssh...

- use mkinitramfs in this chroot to get the inird file

- combine the kernel and the initrd file into a boot image with the 'skales' tool

- transfer the root fs to the board's rootfs partition or to an sd card, depending on the kernel command line params

- boot

- install ROS Indigo from the arm binaries: http://wiki.ros.org/indigo/Installation/UbuntuARM

- enjoy!

Paul

On Thu, Dec 17, 2015 at 4:07 PM, Shawn Schaerer <shawn.s...@gmail.com> wrote:

Anyone manage to get ROS on the Dragonboard 410C?

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[Shawn Schaerer]

Thanks Paul!

did you try to put Indigo on the Ubuntu 15 image?

[Tully Foote]

Hi Shawn, 

I've been testing with the DB410c too and I've been using a trusty armhc chroot inside the 15.04 aarch64 installation. 

I've used debootstrap to setup the trusty armhf chroot in /sdcard/trusty_armhf . Then mounted /dev /proc and /sys into the chroot

/dev /sdcard/trusty_armhf/dev none defaults,bind 0 0 /proc /sdcard/trusty_armhf/proc none defaults,bind 0 0 /sys /sdcard/trusty_armhf/sys none defaults,bind 0 0

And with that working I've been able to drive around the Kobuki and use the Xtion sensor as well as a logitech joystick. There's an instability in the Xtion/Kinect drivers that I'm working on debugging, See this thread: https://www.96boards.org/forums/topic/issue-with-kinect-under-linux/

For DB410c topics the 96board forum is quite responsive. And you can get more details on the process Paul outlined in their release notes: http://builds.96boards.org/releases/dragonboard410c/linaro/ubuntu/15.09/

Tully

[Shawn Schaerer]

Thanks,

I think this might be an easier way to get Indigo up and running instead of building a full 14.04 release for the DB.

[Shawn Schaerer]

I managed to get indigo running my my dragonboard using chroot and ubuntu 14.04

I will post my install notes so others who want to do it don't need to spend the time figuring it out.

On Monday, December 21, 2015 at 5:54:14 PM UTC-6, Tully Foote wrote:

[Shawn Schaerer]

anybody have issues with the SD Card in the latest 15.09 release?

Right now I have my 14.04 filesystem in an SD Card on a usb card reader and its not the best.  I'd like to get it on to the SD Card slot or just put it on the flash storage (if I have to)

Thanks

[Tully Foote]

Hi Shawn, 

I've been using the SD card slot without any problems on the 15.09 release.  Have you checked the dip switch settings?

Tully

[Shawn Schaerer]

Hi,

all 0000 for now.  do I need to have the SD one set?  I am not booting from SD.

[Tully Foote]

I've been leaving mine in 0100 after removing the boot disk. I would not expect it to be required/would expect it to potentially not work in my case, but it is a difference. 

Tully

[Shawn Schaerer]

that did not work for me.  I saw a post on the 96boards forums about this not working.

I am just going to put it on the on board flash

[Shawn Schaerer]

I have my board fully working,  Tully, Paul, thanks for the tips.  I have documented my install of ROS indigo on the dragonboard here.

https://shawnschaerer.wordpress.com/2015/12/31/ros-indigo-on-the-dragonboard-410c/

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[Paul Mathieu]

Thanks Shawn!

I didn't think of installing trusty in a chroot directly on the board running 15.x, that's pretty neat (and much easier than cooking a trusty initrd & rootfs for the board).

Paul

[Oscar Xie]

Thank you so much for the post, I've been looking for this solution for days. I tried to flash the trusty rootfs with fastboot, it works. But got problem installing ROS. It's been installed with compiled source. I will try it in your way

[Shawn Schärer]

Oscar,

Glad you found my notes useful.

Let me know if you have any trouble installing.

Shawn

Sent from my iPhone

[Shawn Schaerer]

Tully,

Have you made any more progress with the DB410C  I saw that Linaro is moving to debian,  are you planning on debian support for the DC?

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[Tully Foote]

Hi Shawn, 

We are expecting to support Debian in the future to make sure that these platforms keep working. 

Tully

[Shawn Schaerer]

Hi,

 What's the timeline for this support?

Sent from my iPad

[Tully Foote]

Since we can't post-hock add support for a target, it will be targeted to roll out with Kinectic. 

Tully

[Shawn Schaerer]

ok so Kinetic will support debian ARM targets.!

[Ernesto Corbellini]

Hi,

I followed Shawn's tutorial [1] and got the chroot setup and the followed the ubuntu ARM ros installation instructions [2] but I'm not being able to install the ros-indigo binary packages. I can list them but when I try to install any of them I get an error. Standard Ubuntu packages are installed without problems. Any idea if I could be missing something?

[1] https://shawnschaerer.wordpress.com/2015/12/31/ros-indigo-on-the-dragonboard-410c/

[2] http://wiki.ros.org/indigo/Installation/UbuntuARM

Ernesto

[Tully Foote]

What's the error you get?

[Ernesto Corbellini]

On Wednesday, March 9, 2016 at 4:43:15 PM UTC-3, Tully Foote wrote:

What's the error you get?

"Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming."

Following shows the list of dependencies.
"Unable to correct problems, you have held broken packages."

[Ernesto Corbellini]

On Wednesday, March 9, 2016 at 5:12:47 PM UTC-3, Ernesto Corbellini wrote:

On Wednesday, March 9, 2016 at 4:43:15 PM UTC-3, Tully Foote wrote:

What's the error you get?

"Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming."

Following shows the list of dependencies.
"Unable to correct problems, you have held broken packages."

Solved it. Seems I skipped adding the restricted, universe, and multiverse repositories and there were missing dependencies.

Now it's installing. Hope everything works :-)

[Ernesto Corbellini]

Hi all. I was installing the ros turtlebot dependencies inside the 14.04 armhf chroot and tripped with the issue described here: https://bugs.launchpad.net/ubuntu/+source/systemd/+bug/1325142

The following solution proved to work: http://askubuntu.com/a/537371

Everything is working good after that.

[Shawn Schaerer]

Great to hear.  If there are any updates. I can modify my install procedure 

[Ernesto Corbellini]

Hi Shawn,

BTW your procedure is great and really helped me. My last comment only affects you if your are installing something that depends on libpam-systemd. Maybe you can add it as a side note.