3.ROS Environment

This section will show you how to install ROS on devkit, please make sure you have understand the first two sections before read this one.

3.1 Install Ubuntu Core Rootfs

Robsense has built an ubuntu rootfs (base on http://cdimages.ubuntu.com/ubuntu-base/releases/16.04/release/ubuntu-base-16.04-core-armhf.tar.gz (opens new window)), you can find it at:

PhenixPro_Devkit/amp_system/linux_images/ubuntu-core-16.04-robsense.tar.bz2

ubuntu core username: robsense

ubuntu core password: robsense

3.1.1 Partition SD Card

We use gparted to partiton sd card, which is easy to manage patition. Install it with apt:

sudo apt-get install gparted

Umount SD card:

umount /media/[PC username]/[sd label]

Open gparted, and select SD:

Select current fat32 parition, and delete it:

Create two new partiton:

First, fat32 partition, 200M, Primary Partition, Free space preceding is 4M, Label is "boot"

Second, ext4 partition, Primary Partition, Free space preceding is 0, Label is "rootfs"

Finish with button below

3.1.2 Install Rootfs To SD

Copy Boot.bin, uImage, devicetree.dtb to boot partition:

cd PhenixPro_Devkit
cp BOOT.bin /media/[PC username]/boot/
cd amp_system/linux_images/
cp devicetree.dtb uImage /media/[PC username]/boot/

Extract rootfs to SD card:

cd PhenixPro_Devkit/amp_system/linux_images
sudo tar -xpf ubuntu-core-16.04-robsense.tar.bz2 -C /media/[PC username]/rootfs

Umount SD card:

umount /media/[PC username]/*

3.1.3 Configure u-boot

u-boot will default to load ramdisk, we need to tell it to stop load ramdisk:

set sdboot 'if mmcinfo; then run uenvboot; echo Copying Linux from SD to RAM... && load mmc 0 ${kernel_load_address} ${kernel_images} && load mmc 0 ${devicetree_load_address} ${devicetree_images} && bootm ${kernel_load_address} - ${devicetree_load_address}; fi'

Tell it to load filesystem from sd card:

set bootargs 'console=ttyPS0,115200 maxcpus=1 root=/dev/mmcblk0p2 rw earlyprintk rootfstype=ext4 rootwait devtmpfs.mount=0'

Boot system:

3.2 Install ROS Kinetic

3.2.1 Configure Network

sudo vim /etc/network/interfaces

Add:

auto eth0
iface eth0 inet static
address 192.168.0.234
gateway 192.168.0.1
netmask 255.255.255.0
dns-nameservers 114.114.114.114

Restart network:

sudo ifdown eth0 && sudo ifup eth0

Test:

ping www.baidu.com

3.2.2 Setup sources.list

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

3.2.3 Setup keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

3.2.4 Installation

Update Ubuntu repositories:

sudo apt-get update

Install Ros-Base:

sudo apt-get install ros-kinetic-ros-base

3.2.5 Initialize rosdep

sudo rosdep init
rosdep update

3.2.6 Environment setup

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

3.2.7 Getting rosinstall

rosinstall (opens new window) is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

sudo apt-get install python-rosinstall

3.2.8 Check

printenv | grep ROS

3.3 Wakeup CPU1

Insert SD card to PC, copy binary tools to ubuntu core user home:

sudo cp linux/ocm_master/ocmfs_master /media/[PC username]/rootfs/home/robsense
sudo cp linux/pilot_cmd/pilot_cmd /media/[PC username]/rootfs/home/robsense
sudo cp linux/rwmem/rwmem.elf /media/[PC username]/rootfs/home/robsense

Modify .bashrc:

sudo vim /media/[PC username]/rootfs/home/robsense/.bashrc

Add

echo "robsense" | sudo -S ./ocmfs_master &
echo "robsense" | sudo -S ./rwmem.elf  0xfffffff0 0x1a000000

Insert SD card to devkit, and power on: