INSTALL.md

Install ROS Noetic on Ubuntu 20.04 Server on a Raspi

Required Items

• Raspi 4
• 32GB or better SD Card
• USB Keyboard
• Mini HDMI to XXX adapter and a monitor
• WLAN credentials and internet connectivity

Install Ubuntu 20.04 Server

• install ubuntu 20.04 with imager -> https://www.pragmaticlinux.com/2021/08/install-the-raspberry-pi-imager-on-ubuntu-debian-fedora-and-opensuse/
• boot up and set pw for user ubuntu
• configure network so you can reach your rapi remotely -> https://linuxconfig.org/ubuntu-20-04-connect-to-wifi-from-command-line
• connect to your raspi via ssh

Stop auto updates (from interfering)

systemctl stop --force unattended-upgrades.service

Remove snapd

sudo snap remove --purge lxd
sudo snap remove --purge core20
sudo snap remove --purge snapd
sudo apt -y remove --autoremove snapd

Update Ubuntu to latest version

sudo apt-get update
sudo apt-get -y upgrade

Install ROS noetic -> http://wiki.ros.org/noetic/Installation/Ubuntu

when you reach point 1.4 Installation chose the ROS-Base (Bare Bones) option

Add some alias helpers to ~/.bashrc

alias depit="rosdep install --from-paths src --ignore-src -r -y"
alias debug="picocom -b 115200 /dev/ttyAMA1"

Configure ROS Core IP (in /opt/ros/noetic/setup.bash)

<your-rover-ip> is your static ip address for the raspi

export ROS_IP=<your-rover-ip>

Add sourceing the setup.bash for Mowgli to ~/.bashrc

source ~/MowgliRoverROS/devel/setup.bash

Fetch Mowgli ROS and open_mower_ros software from github

Clone MowgliROS Repo

cd ~
git clone [email protected]:cloudn1ne/MowgliRoverROS.git

Clone submodules

cd ~/MowgliRoverROS/
git submodule update --init

Install all ROS dependencies

cd ~/MowgliRoverROS/
depit

Install some more dependencies that are not covered by rosdep

sudo apt-get -y install ros-noetic-tf2-eigen ros-noetic-robot-state-publisher ros-noetic-joint-state-publisher ros-noetic-map-server ros-noetic-rosserial-server ros-noetic-gps-common picocom

Install whats needed for ST Link V2

sudo apt-get -y install openocd

Build ROS packages

cd ~/MowgliRoverROS/
./build_mowgli.sh
./build_om.sh

Build str2str from RTKLIB

needs to be at least RTKLIB Branch 2.4.3

cd ~/MowgliRoverROS/src/RTKLIB/app/consapp/str2str/gcc/
make
sudo make install

Plugin Mowgli via USB

Install and start roscore and rosserial-server services

cd ~/MowgliRoverROS/raspi_scripts
./install.sh
systemctl start roscore
systemctl start rosserial
systemctl enable rosserial_watchdog
systemctl enable roscore
systemctl enable rosserial_watchdog
systemctl enable rosserial