6/15/2021 UPDATE: Added picamera setup
6/13/2021 UPDATE: Added password-less sudo setup
6/5/2021 UPDATE: Added swap file creation and disable unattended updates (after the first one)
6/4/2021 UPDATE: Tested on Ubuntu 20.04 Server LTS 64-bit on RPi3B - full sensor, servo, and motor functions working
This procedure is fully headless by configuring WiFi before the first boot, and uses ssh access to complete everything. There is no desktop. It uses a bit over 3GB of storage, and has 700MB of free memory when running.
WE’RE GO FOR ROS2 FOXY FITZROY!
Ubuntu 20.04 Server LTS 64-bit for Pi3/Pi3B+
=== DOWNLOAD UBUNTU 20.04 Server LTS 64-bit image
https://ubuntu.com/download/raspberry-pi
*** Flash SD card with Raspberry Pi Imager
Select the Ubuntu->Ubuntu Server 20.04 LTS 64-bit
or Custom->ubuntu-20.04.2-preinstalled-server-arm64_raspi.img.xz
(Scroll) Select the 16GB SD Card
Write
=== Mount the card to allow headless configuration
- Pull card out, reinsert for next steps
=== Setup WiFi Headless !!! PERSONAL INFORMATION !!!
- Browse system-boot partition
- Show in enclosing folder
- Open Terminal at folder
- nano network-config, uncomment and edit:
wifis:
wlan0:
dhcp4: true
optional: true
access-points:
"your_SSID":
password: "your_netpswd"
- exit and close terminal
- unmount
==== Ubuntu Server First Boot
-insert micro SD card
-power on
- on mac: arp -a to check IP (may not show up or may show "incomplete" for some reason)
=== First Login (may take a few minutes before alive..)
ssh ubuntu@x.x.x.x
username: ubuntu password: ubuntu
If see SSH HOST KEY verification failed
on mac: ssh-keygen -R x.x.x.x
- FIRST LOGIN - CHANGE PASSWORD
Current password: ubuntu
New password: enter !!! your_new_password !!!, then ssh in again
=== UPDATING
- Check for unattended upgrade
$ pgrep -a unattended
If running, then:
$ tail -f /var/log/unattended-upgrades/unattened-upgrades.log
(can tail -dpkgs.log but it does not log when it is done)
Continue hen see: INFO All upgrades installed" in unattended-upgrades.log
==== DISABLE FUTURE UNATTENDED UPDATES ===
$ sudo nano /etc/apt/apt.conf.d/20auto-upgrades
Change the "1" to "0" in both lines:
APT::Periodic::Update-Package-Lists "0";
APT::Periodic::Unattended-Upgrade "0";
$ sudo apt remove unattended-upgrades
$ sudo reboot
After reboot, probably some packages still to upgrade:
$ sudo apt update
$ sudo apt upgrade
$ sudo reboot
==== CREATE SWAPFILE
$ sudo fallocate -l 2G /swapfile
$ sudo chmod 600 /swapfile
$ sudo mkswap /swapfile
$ sudo swapon /swapfile
$ sudo nano /etc/fstab
add line to end of file:
/swapfile swap swap defaults 0 0
Verify:
$ free -h
=== [skip] === INSTALL LIGHTWEIGHT DESKTOP (supposedly take 790MB ram )
$ sudo apt install xubuntu-desktop
or
$ sudo apt install lubuntu-desktop
=== [skip]=== DISABLE IPV6
Browse the disk (boot)
Rt Click on System Volume Information->Open Terminal Here
cd ..
cp /boot/cmdline.txt /boot/cmdline.txt.bak
nano cmdline.txt
add to end of line/file:
ipv6.disable=1
save, exit editor
- eject disk
=== Configure for timezone
cat /etc/timezone
or
$ timedatectl
$ sudo timedatectl set-timezone America/New_York
=== Check locale
$ locale
=== CHECK DISKSPACE
$ df -h
Check size of / partition and % used: (16GB card)
/dev/mmcblk0p2 29G 2.9G 25G 11% /
=== INSTALL RASPBERRY PI LIBRARY ===
sudo apt install libraspberrypi-bin
==== Check TEMPERATURE
To view the Pi's temperature (use sudo for now, add user to video group later)
$ sudo vcgencmd measure_temp
temp=45.1'C
It's generally a good idea to keep the core temperature below 70 degrees
=== info about processor, memory, disk partitions ===
cat /proc/cpuinfo
cat /proc/meminfo
cat /proc/partitions
cat /proc/version
Linux version 5.4.0-1035-raspi (buildd@bos02-arm64-009) (gcc version 9.3.0 (Ubuntu 9.3.0-17ubuntu1~20.04)) #38-Ubuntu SMP PREEMPT Tue Apr 20 21:37:03 UTC 202
=== CHECK MEMORY USAGE ====
ubuntu@ubuntu:~$ free -h
total used free shared buff/cache available
Mem: 908Mi 194Mi 113Mi 3.0Mi 600Mi 688Mi
Swap: 0B 0B 0B
=== HTOP
htop
check 15min load average: 0.01 (also with uptime)
q to exit
==== CHANGE HOSTNAME ===
$ sudo hostnamectl set-hostname ROSPI
$ hostname
===== rebooting ====
sudo shutdown -r now (or sudo reboot)
===== Get pip3
$sudo apt-get install python3-pip
===== test internet speed ====
$ sudo pip3 install speedtest-cli
$ speedtest-cli
Speedtest Result
2021Jun04: 55.66 Mbps Down, 11.96 Up, Ping: 32ms
2019Sep03: 39.55 Mbps Download, 11.52 Up 34ms ping
===== describe hardware =====
sudo lshw
====== Testing Disk speed =====
sudo hdparm -t /dev/mmcblk0
(ignore error
reports
Pi3B+: 68 MB in 3.01s = 22.61 MB/sec
Pi3: 62 MB in 3.06s = 20.27 MB/sec
pi B+: 54 MB in 3s = 17.7 MB/s
======= check OS version ======
cat /etc/os-release
ubuntu@ubuntu:~$ cat /etc/os-release
NAME="Ubuntu"
VERSION="20.04.2 LTS (Focal Fossa)"
ID=ubuntu
ID_LIKE=debian
PRETTY_NAME="Ubuntu 20.04.2 LTS"
VERSION_ID="20.04"
HOME_URL="https://www.ubuntu.com/"
SUPPORT_URL="https://help.ubuntu.com/"
BUG_REPORT_URL="https://bugs.launchpad.net/ubuntu/"
PRIVACY_POLICY_URL="https://www.ubuntu.com/legal/terms-and-policies/privacy-policy"
VERSION_CODENAME=focal
UBUNTU_CODENAME=focal
==== check Pi firmware version
$ sudo vcgencmd version
Feb 25 2021 12:12:09
Copyright (c) 2012 Broadcom
version 564e5f9b852b23a330b1764bcf0b2d022a20afd0 (clean) (release) (start)
==== get psutil for boot_time() in sayStatus.py
pip3 install psutil
=== INSTALL WIRELESS-TOOLS for iwconfig
sudo apt-get install wireless-tools
=== power management off to limit Tx excessive retries and ping request timeouts
check with:
iwconfig wlan0 (look at power management: )
set temporarily with:
sudo iwconfig wlan0 power off
set permanently with ???
==== BEGIN GOPIGO3 SPECIFIC STEPS
===== Create a Pi user with a /home/pi default directory, /bin/bash login shell ===
$ sudo useradd -m pi
$ sudo passwd pi
$ sudo usermod -a -G ubuntu,adm,dialout,cdrom,floppy,sudo,audio,dip,video,plugdev,netdev,lxd pi
$ sudo groupadd gpio
$ sudo groupadd i2c
$ sudo groupadd spi
$ sudo usermod -a -G gpio,i2c,spi pi
$ sudo usermod -a -G gpio,i2c,spi ubuntu
$ sudo usermod -a -G pi ubuntu
Check with:
$ groups pi
$ groups ubuntu
=== CONFIGURE PASSWORD-LESS SUDO
sudo nano /etc/sudoers
make sudo group look like:
# Allow members of group sudo to execute any command
%sudo ALL=(ALL:ALL) NOPASSWD: ALL
=== CONFIGURE PI DEFAULT SHELL TO BASH
$ sudo chsh -s /bin/bash pi
=== ALLOW non-root SPI and GPIO (Temporarily - will make permanent later)
$ sudo chgrp spi /dev/spidev0.0
$ sudo chgrp spi /dev/spidev0.1
$ sudo chmod 660 /dev/spidev0.0
$ sudo chmod 660 /dev/spidev0.1
$ sudo chgrp gpio /sys/class/gpio/export
$ sudo chgrp gpio /sys/class/gpio/unexport
$ sudo chmod 770 /sys/class/gpio/export
$ sudo chmod 770 /sys/class/gpio/unexport
=== [SKIP] === Enable spi, i2c without raspi-config
6/3/21: system-boot/sysconfig.txt now has these configured
enable_uart=1
dtparam=audio=on
dtparam=i2c_arm=on
dtparam=spi=on
==== GOPIGO3 LIBRARIES
$ logout
$ ssh pi@x.x.x.x
$ sudo git clone -b install_on_ubuntu http://www.github.com/DexterInd/GoPiGo3.git /home/pi/Dexter/GoPiGo3
$ sudo curl -kL dexterindustries.com/update_tools | bash -s -- --system-wide --use-python3-exe-too --install-deb-debs --install-python-package
[sudo] password for pi: (enter login pswd for pi)
$ sudo apt-get install --no-install-recommends python3-pip python3-numpy python3-curtsies
=== DI_SENSORS LIBRARY
$ sudo git clone https://github.com/DexterInd/DI_Sensors.git /home/pi/Dexter/DI_Sensors
==== [Already installed] RPi.GPIO
sudo apt install python3-rpi.gpio
==== PIGPIO ===
$ sudo apt-get install unzip
$ wget https://github.com/joan2937/pigpio/archive/master.zip
$ unzip master.zip
$ cd pigpio-master
$ make
$ sudo make install
$ cd ..
$ rm master.zip
=== pigpiod
wget https://raw.githubusercontent.com/joan2937/pigpio/master/util/pigpiod.service
(Replacing with the non-forking version - don't know why)
$ sudo nano pigpiod.service
[Unit]
Description=Pigpio daemon
After=network.target syslog.target
StartLimitIntervalSec=60
StartLimitBurst=5
StartLimitAction=reboot
[Service]
Type=simple
ExecStartPre=/sbin/sysctl -w net.ipv4.tcp_keepalive_time=300
ExecStartPre=/sbin/sysctl -w net.ipv4.tcp_keepalive_intvl=60
ExecStartPre=/sbin/sysctl -w net.ipv4.tcp_keepalive_probes=5
# Don't fork pigpiod
ExecStart=/usr/local/bin/pigpiod -g
ExecStop=
Restart=always
RestartSec=10
[Install]
WantedBy=multi-user.target
$ sudo cp pigpiod.service /etc/systemd/system
$ sudo systemctl enable pigpiod.service
$ sudo systemctl start pigpiod.service
$ systemctl status pigpiod.service
â—Ź pigpiod.service - Pigpio daemon
Loaded: loaded (/etc/systemd/system/pigpiod.service; enabled; vendor preset: enabled)
Active: active (running) since Fri 2021-06-04 20:08:56 EDT; 9s ago
Process: 8685 ExecStartPre=/sbin/sysctl -w net.ipv4.tcp_keepalive_time=300 (code=exited, status=0/SUCCESS)
Process: 8686 ExecStartPre=/sbin/sysctl -w net.ipv4.tcp_keepalive_intvl=60 (code=exited, status=0/SUCCESS)
Process: 8687 ExecStartPre=/sbin/sysctl -w net.ipv4.tcp_keepalive_probes=5 (code=exited, status=0/SUCCESS)
Main PID: 8688 (pigpiod)
Tasks: 4 (limit: 973)
CGroup: /system.slice/pigpiod.service
└─8688 /usr/local/bin/pigpiod -g
Jun 04 20:08:56 ROSPI systemd[1]: Starting Pigpio daemon...
Jun 04 20:08:56 ROSPI sysctl[8685]: net.ipv4.tcp_keepalive_time = 300
Jun 04 20:08:56 ROSPI sysctl[8686]: net.ipv4.tcp_keepalive_intvl = 60
Jun 04 20:08:56 ROSPI sysctl[8687]: net.ipv4.tcp_keepalive_probes = 5
Jun 04 20:08:56 ROSPI systemd[1]: Started Pigpio daemon.
=== R4R_Tools (for I2C_mutex)
$ sudo git clone https://github.com/DexterInd/RFR_Tools.git /home/pi/Dexter/lib/Dexter/RFR_Tools
$ sudo apt-get install libffi-dev
$ cd /home/pi/Dexter/lib/Dexter//RFR_Tools/miscellaneous/
$ sudo python3 setup.py install
Check that the mutex stuff will be available:
$ unzip -l /usr/local/lib/python3.8/dist-packages/Dexter_AutoDetection_and_I2C_Mutex-0.0.0-py3.8.egg
Archive: /usr/local/lib/python3.8/dist-packages/Dexter_AutoDetection_and_I2C_Mutex-0.0.0-py3.8.egg
Length Date Time Name
--------- ---------- ----- ----
3154 2021-05-31 15:48 I2C_mutex.py
9445 2021-05-31 15:48 auto_detect_robot.py
6211 2021-05-31 15:48 auto_detect_rpi.py
23756 2021-05-31 15:48 di_i2c.py
1700 2021-05-31 15:48 di_mutex.py
303 2021-05-31 15:51 EGG-INFO/PKG-INFO
372 2021-05-31 15:51 EGG-INFO/SOURCES.txt
1 2021-05-31 15:51 EGG-INFO/dependency_links.txt
46 2021-05-31 15:51 EGG-INFO/requires.txt
60 2021-05-31 15:51 EGG-INFO/top_level.txt
1 2021-05-31 15:51 EGG-INFO/zip-safe
2812 2021-05-31 15:51 __pycache__/I2C_mutex.cpython-38.pyc
6565 2021-05-31 15:51 __pycache__/auto_detect_robot.cpython-38.pyc
4592 2021-05-31 15:51 __pycache__/auto_detect_rpi.cpython-38.pyc
14282 2021-05-31 15:51 __pycache__/di_i2c.cpython-38.pyc
1652 2021-05-31 15:51 __pycache__/di_mutex.cpython-38.pyc
--------- -------
74952 16 files
==== wiringPi ====
cd /home/pi/Dexter/lib
git clone https://github.com/DexterInd/wiringPi/
cd wiringPi
sudo chmod +x ./build
sudo ./build
==== [SKIP] antenna wifi service
sudo mkdir -p /etc/systemd/system/antenna_wifi.service.d/
sudo cp /home/pi/di_update/Raspbian_For_Robots/upd_script/antenna_wifi_override.conf /etc/systemd/system/antenna_wifi.service.d/
sudo systemctl daemon-reload
sudo systemctl restart antenna_wifi.service
==== GPG3_POWER SERVICE ===
cd ~
sudo cp /home/pi/Dexter/GoPiGo3/Install/gpg3_power.service /etc/systemd/system
sudo chmod 644 /etc/systemd/system/gpg3_power.service
sudo systemctl daemon-reload
sudo systemctl enable gpg3_power.service
sudo systemctl start gpg3_power.service
==== [SKIP] AUTODETECT ROBOT ===
X mkdir /home/pi/Dexter/R4R
X cd /home/pi/Dexter/R4R
X wget https://raw.githubusercontent.com/DexterInd/Raspbian_For_Robots/master/buster_update/auto_detect_robot.service
X sudo cp /home/pi/Dexter/R4R/auto_detect_robot.service /etc/systemd/system/
X sudo systemctl daemon-reload
X sudo systemctl enable auto_detect_robot.service
X sudo systemctl start auto_detect_robot.service
==== SETUP GoPiGo3 and DI_Sensors Python3 eggs
$ cd /home/pi/Dexter/GoPiGo3/Software/Python
$ sudo python3 setup.py install
$ cd /home/pi/Dexter/DI_Sensors/Python
$ sudo python3 setup.py install
==== Setup non-root access rules ====
$ sudo nano /etc/udev/rules.d/99-com.rules
SUBSYSTEM=="input", GROUP="input", MODE="0660"
SUBSYSTEM=="i2c-dev", GROUP="i2c", MODE="0660"
SUBSYSTEM=="spidev", GROUP="spi", MODE="0660"
SUBSYSTEM=="bcm2835-gpiomem", GROUP="gpio", MODE="0660"
SUBSYSTEM=="rpivid-*", GROUP="video", MODE="0660"
KERNEL=="vcsm-cma", GROUP="video", MODE="0660"
SUBSYSTEM=="dma_heap", GROUP="video", MODE="0660"
SUBSYSTEM=="gpio", GROUP="gpio", MODE="0660"
SUBSYSTEM=="gpio*", PROGRAM="/bin/sh -c '\
chown -R root:gpio /sys/class/gpio && chmod -R 770 /sys/class/gpio;\
chown -R root:gpio /sys/devices/virtual/gpio && chmod -R 770 /sys/devices/virtual/gpio;\
chown -R root:gpio /sys$devpath && chmod -R 770 /sys$devpath\
'"
SUBSYSTEM=="pwm*", PROGRAM="/bin/sh -c '\
chown -R root:gpio /sys/class/pwm && chmod -R 770 /sys/class/pwm;\
chown -R root:gpio /sys/devices/platform/soc/*.pwm/pwm/pwmchip* && chmod -R 770 /sys/devices/platform/soc/*.pwm/pwm/pwmchip*\
'"
KERNEL=="ttyAMA0", PROGRAM="/bin/sh -c '\
ALIASES=/proc/device-tree/aliases; \
if cmp -s $$ALIASES/uart0 $$ALIASES/serial0; then \
echo 0;\
elif cmp -s $$ALIASES/uart0 $$ALIASES/serial1; then \
echo 1; \
else \
exit 1; \
fi\
'", SYMLINK+="serial%c"
KERNEL=="ttyAMA1", PROGRAM="/bin/sh -c '\
ALIASES=/proc/device-tree/aliases; \
if [ -e /dev/ttyAMA0 ]; then \
exit 1; \
elif cmp -s $$ALIASES/uart0 $$ALIASES/serial0; then \
echo 0;\
elif cmp -s $$ALIASES/uart0 $$ALIASES/serial1; then \
echo 1; \
else \
exit 1; \
fi\
'", SYMLINK+="serial%c"
KERNEL=="ttyS0", PROGRAM="/bin/sh -c '\
ALIASES=/proc/device-tree/aliases; \
if cmp -s $$ALIASES/uart1 $$ALIASES/serial0; then \
echo 0; \
elif cmp -s $$ALIASES/uart1 $$ALIASES/serial1; then \
echo 1; \
else \
exit 1; \
fi \
'", SYMLINK+="serial%c"
ACTION=="add", SUBSYSTEM=="vtconsole", KERNEL=="vtcon1", RUN+="/bin/sh -c '\
if echo RPi-Sense FB | cmp -s /sys/class/graphics/fb0/name; then \
echo 0 > /sys$devpath/bind; \
fi; \
'"
=== ESPEAK-NG
- Not installing python3-espeak or speech-dispatcher-espeak-ng (installs pulseaudio)
$ sudo apt-get install -y espeak-ng
$ espeak-ng "Hello"
- if want python interface to espeak-ng:
$ pip3 install py-espeak-ng
==== FULL POWEROFF FOR CLEAN TEST
$ sudo shutdown -h now
Boot up in GoPiGo3
$ ssh pi@X.X.X.X
=== Test GoPiGo Functions
$ cd ~
$ python3 Dexter/GoPiGo3/Software/Python/Examples/Read_Info.py
$ python3 Dexter/GoPiGo3/Software/Python/Examples/LED.py
$ python3 Dexter/GoPiGo3/Software/Python/Examples/easy_Distance_Sensor.py
$ python3 Dexter/DI_Sensors/Python/Examples/IMUSensor.py
$ python3 Dexter/GoPiGo3/Software/Python/Examples/Servo.py
$ python3 Dexter/GoPiGo3/Software/Python/Examples/Motor_Turn.py
=== BENCHMARK
mkdir benchmark
cd benchmark
wget https://raw.githubusercontent.com/aikoncwd/rpi-benchmark/master/rpi-benchmark.sh
chmod +x rpi-benchmark.sh
sudo ./rpi-benchmark.sh
Raspberry Pi Benchmark Test
Author: AikonCWD
Version: 3.0
temp=41.9'C
arm_freq=1200
arm_freq_min=600
core_freq=400
sdram_freq=450
gpu_freq=300
sd_clock=50.000 MHz
Running InternetSpeed test...
Ping: 30.353 ms
Download: 44.29 Mbit/s
Upload: 12.07 Mbit/s
Running CPU test...
WARNING: the --test option is deprecated. You can pass a script name or path on the command line without any options.
total time: 10.0007s
min: 0.67
avg: 0.69
max: 16.72
temp=47.8'C
Running THREADS test...
WARNING: the --test option is deprecated. You can pass a script name or path on the command line without any options.
total time: 10.0108s
min: 17.27
avg: 17.91
max: 27.30
temp=53.7'C
Running MEMORY test...
WARNING: the --test option is deprecated. You can pass a script name or path on the command line without any options.
3072.00 MiB transferred (3930.79 MiB/sec)
total time: 0.7757s
min: 0.00
avg: 0.00
max: 0.18
temp=54.8'C
Running HDPARM test...
HDIO_DRIVE_CMD(identify) failed: Invalid argument
Timing buffered disk reads: 68 MB in 3.01 seconds = 22.57 MB/sec
temp=48.3'C
Running DD WRITE test...
536870912 bytes (537 MB, 512 MiB) copied, 30.0987 s, 17.8 MB/s
temp=44.5'C
Running DD READ test...
536870912 bytes (537 MB, 512 MiB) copied, 22.8161 s, 23.5 MB/s
temp=42.9'C
AikonCWD's rpi-benchmark completed!
==== SETUP PICAMERA
sudo pip3 install git+https://github.com/waveform80/picamera
sudo apt-get install --reinstall libraspberrypi0 libraspberrypi-dev libraspberrypi-bin
sudo vcgencmd get_camera
Added to /etc/udev/rules.d/99-com.rules:
SUBSYSTEM=="vchiq", GROUP="video", MODE="0660"
added to end of /boot/firmware/config.txt
start_x=1
gpu_mem=128
sudo reboot
sudo vcgencmd get_camera
supported=1 detected=1 ???
raspistill -o test.jpg
==== if not - try latest kernel
sudo curl -L --output /usr/bin/rpi-update https://raw.githubusercontent.com/Hexxeh/rpi-update/master/rpi-update && sudo chmod +x /usr/bin/rpi-update
sudo rpi-update
WARNING: This update bumps to rpi-5.10.y linux tree
See: https://www.raspberrypi.org/forums/viewtopic.php?f=29&t=288234
your firmware was successfully updated to 85bda3d8fd6a8b70d189aefd9234440ca99cb81c
sudo reboot
sudo vcgencmd get_camera
supported=1 detected=1 ???
raspistill -o test.jpg
=== [For info only] === To restore to stable kernel:
apt search raspberry (raspberrypi-kernel/stable)
sudo apt --reinstall install raspberrypi-kernel/stable
sudo sync
sudo reboot
=======
