INSTALLATION.md

Installation

Installation Instructions

Set Up the Pi (Basics)

• Download and flash microSD with Ubuntu Mate 20.04 Raspberry Pi 64-bit
• Connect to AU_WiFi (if on Auburn University's network): http://www.eng.auburn.edu/admin/ens/helpdesk/on-campus/wireless.html

Clone repository and get submodules

git clone https://github.com/GAVLab/ros-hab-dcs --recursive

If you are having trouble with submodules try the following commands

git submodule update --init --recursive

Set Up VNC on the Pi (Optional)

• Install ifconfig and x11vnc: sudo apt-get install net-tools x11vnc

• Run ifconfig to identify ip address.

• Start the VNC

    startx &
    x11vnc &

• Login to VNC viewer with IP address

Install ROS and other Basics

• Install ROS Noetic with this tutorial: http://wiki.ros.org/noetic/Installation/Ubuntu
• ROS Desktop (not full) is sufficient.
• Add repository to .bashrc

echo "source ~/ros-hab-dcs/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

• Install Python 3

sudo apt-get install python3

• Install various Python libraries

pip3 install scipy

Fix raspi_cpu_temp node

• Open ~/ros-hab-dcs/catkin_ws/src/raspi_cpu_temp/scripts/raspi_cpu_temp_node.py
• Change first line to #!/usr/bin/env python3

Setup i2c on Pi

• Enable i2c

  sudo apt-get install i2c-tools
  i2cdetect -l

• Add i2c-devl to boot with sudo nano /etc/modules-load.d/modules.conf

• Slow down baud rate by adding dtparam=i2c_baudrate=10000 with sudo nano /boot/firmware/usercfg.txt

• Install wiringpi sudo apt install wiringpi

• Ensure proper permissions to prevent i/o errors:

cd /dev
sudo chmod og+rwx gpio*

• Connect i2c devices to Sparkfun Qwiic hat and run i2cdetect -y 1 to identify channels
• Install Circuit Python: https://learn.adafruit.com/circuitpython-on-raspberrypi-linux/installing-circuitpython-on-raspberry-pi
• Install driver for various sensors: sudo pip3 install adafruit-circuitpython-bno055 adafruit-circuitpython-mpl3115a2 sparkfun-qwiic-icm20948 adafruit-circuitpython-ina219

Setup UART on Pi

• Follow the instructions found here: https://raspberrypi.stackexchange.com/questions/114366/rpi4-serial-port-not-working-on-either-raspberry-os-or-ubuntu
• Enable UART Permissions

sudo adduser $USER tty
sudo adduser $USER dialout 
sudo chmod g+r /dev/ttyAMA0
sudo chmod g+r /dev/ttyUSB0

Setup the GPS

• Install ROS ublox: sudo apt install ros-noetic-ublox

Setup Camera

• ROS Libraries

sudo apt-get install -y ros-noetic-camera-info-manager ros-noetic-rqt-image-view ros-noetic-compressed-image-transport ros-noetic-dynamic-reconfigure ros-noetic-usb-cam

• Enable CSI Camera sudo modprobe bcm2835-v4l2
• Check video ports v4l2-ctl --list-devices
• View Results once Running Node rqt_image_view
• Setup library for camera calibration sudo apt-get install ros-noetic-image-geometry
• Perform camera calibration. Move checkerboard paper until all bars are green and press "Calibrate" wait until results are printed to terminal (may take up to 10 minutes). Press save (may take up to 5 minutes). Press commit.

roslaunch ~/ros-hab-dcs/launches/sensors/camera_calib.launch
rosrun camera_calibration cameracalibrator.py --size 9x6 --square 0.022 image:=/down_cam/image_raw camera:=/down_cam

Running system

cd  ~/ros-hab-dcs/launches/
roslaunch full_flight.launch
./record_full.sh