Installing Software and configuring Raspberry Pi
Using the image included in the (repo)[]. After flashing the SD Card the hostname will need to be changed, this will be part of the robot's identifier and will act as the namespace name; edit the host file located at /etc/hosts and change the string after 127.0.0.1.
Save the file and navigate to /etc/hostname and change the value to the one used in the previous file.
After changing the hostname, insert the SD Card and boot the Raspberry Pi. When pi is done booting ssh into it using pi as the username and rospberry as the password. Find the current IP address and the device's MAC address using the ifconfig command. Use the MAC address to create a MAC reservation on your router. Edit the dhcpcd.conf file using the command sudo nano dhcpcd.conf and add the following lines to the bottom:
interface wlan0
static ip_address=*CURRENT IP*
static routers=*ROUTER IP*
static domain_name_servers=*ROUTER IP*
Open the bashrc file and scroll to the bottom, there you will need to change the ROS_IP to be the IP of the robot. The ROS_MASTER_URL need to be changed to the IP address of the computer that will run roscore.
To use the Swarm robot with the camera server an AprilTag will need to be placed on top. Ensure the tag is pointing in the forward direction of the robot. The tag id and the robot hostname will need to be added to the robots.json file located at ROS1/ros_ws/src/camera_server/src/robots.json use the tag id as the key and the hostname as the value. Push the file to the forked repo so that the file is synced on the robots.