My Pi 3 Install Log (3): ROS Kinetic on Raspbian Jessie (Lite)

(2 hours)

# installing ROS

* (instruction by sonel)  https://forum.poppy-project.org/t/raspberry-pi-3-experiments/2456

* (official kinetic on rpi 2?) http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi

http://wiki.ros.org/kinetic/Installation/Ubuntu

http://wiki.ros.org/kinetic/Installation/Debian

(missing packages?)  https://github.com/ros/rosdistro/issues/11020

https://wiki.debian.org/DebianScience/Robotics/ROS

http://wiki.ros.org/indigo/Installation/UbuntuARM

# follow installation ubuntu

• sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

• sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116

• sudo apt-get update
• sudo apt-get upgrade     # will download 87.8 MB of archives

after upgrade, now 972MB used

'free -m' shows 690/925 MB memory used <-- probably buffering

sudo shutdown -r now    #  or sudo reboot

'free -m' now using 76/925 MB memory only

now starts differently - ROS has 4 configurations to choose from.  Should I go for the ros-base installation?

* * *

If desktop-full, lite has no GUI, so try LXDE as in install log 2 http://robotera.blogspot.ca/2016/08/install-log-2-lxde-on-raspbian-jessie.html

* * *

ok now try ros desktop, error cannot locate packages.

apt-get update hits ROS packages correctly but received nothing about ROS??

apt-cache search ros-kinetic returns nothing

fast method not working http://wiki.ros.org/kinetic/Installation/Ubuntu

So slow method install from source! 2.5 hours

# Bootstrap Dependencies

$ sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake

→ used 1636140/15304884 1k-blocks (used 1.6G)

# init dependencies

sudo rosdep init
rosdep update

→ Query rosdistro index and then added distro

### installation now

# catkin workspace - use wstool to fetch the core packages so to build them.

# install ROS-Comm (no GUI), not Desktop

• $ rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall
  $ wstool init src kinetic-ros_comm-wet.rosinstall

# unavailable Dependencies

mkdir -p ~/ros_catkin_ws/external_src
cd ~/ros_catkin_ws/external_src
wget http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip
unzip assimp-3.1.1_no_test_models.zip
cd assimp-3.1.1
cmake .
make
sudo make install

# assimp is needed by collada_urdf, a tool to convert Unified Robot Description Format (URDF) documents into COLLAborative Design Activity (COLLADA) documents.

# get remaining dependencies

cd ~/ros_catkin_ws
$ rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:jessie

# add swap space

sudo nano /etc/dphys-swapfile

And change the line

CONF_SWAPSIZE=100

into

CONF_SWAPSIZE=1024

Next you can either restart your PI or just the swap daemon:

sudo /etc/init.d/dphys-swapfile stop
sudo /etc/init.d/dphys-swapfile start

The second instruction will take bout 30 seconds to run (it creates the swap file) so don't be alarmed if the prompt doesn't return immediately.

Usefree -m to make sure that you have 1024 of swap memory.

# build catkin workspace

$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic

# done installation.  Now source its environment

$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc

$ source ~/.bashrc

* * *

For future reference (not done yet), cut-and-paste the followings from the official page:

Maintaining a Source Checkout

## in the future, periodically update the source by updating first rosinstall file, download the latest sources, and rebuild our workspace.

$ mv -i kinetic-desktop-full-wet.rosinstall kinetic-desktop-full-wet.rosinstall.old
$ rosinstall_generator desktop_full --rosdistro kinetic --deps --wet-only --tar > kinetic-desktop-full-wet.rosinstall

Then, compare the new rosinstall file to the old version to see which packages will be updated:

$ diff -u kinetic-desktop-full-wet.rosinstall kinetic-desktop-full-wet.rosinstall.old

If you're satified with these changes, incorporate the new rosinstall file into the workspace and update your workspace:

$ wstool merge -t src kinetic-desktop-full-wet.rosinstall
$ wstool update -t src

Now that the workspace is up to date with the latest sources, rebuild it:

$ ./src/catkin/bin/catkin_make_isolated --install

Once your workspace has been rebuilt, you should source the setup files again:

$ source ~/ros_catkin_ws/install_isolated/setup.bash

Adding Released Packages

You may add additional packages to the installed ros workspace that have been released into the ros ecosystem. First, a new rosinstall file must be created including the new packages (Note, this can also be done at the initial install). For example, if we have installed ros_comm, but want to add ros_control and joystick_drivers, the command would be:

$ cd ~/ros_catkin_ws
$ rosinstall_generator ros_comm ros_control joystick_drivers --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall

You may keep listing as many ROS packages as you'd like separated by spaces.

Next, update the workspace with wstool:

$ wstool merge -t src kinetic-custom_ros.rosinstall
$ wstool update -t src

After updating the workspace, you may want to run rosdep to install any new dependencies that are required:

Raspbian Jessie:

$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y -r --os=debian:jessie

Finally, now that the workspace is up to date and dependencies are satisfied, rebuild the workspace:

$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic