ROS Kinetic Setup for GoPiGo3 Node


(I used a clean, latest Raspbian Stretch, but I am pretty sure it would have worked installing over Raspbian for Robots - even better because I couldn't get remote desktop to auto start.)

*** Download Raspian Stretch
  https://downloads.raspberrypi.org/raspbian/images/raspbian-2019-04-09/2019-04-08-raspbian-stretch.zip

*** Flash SD card with Etcher
  Select the Raspian Stretch zip file
  (Scroll) Select the 16GB SD Card
  Flash

=== Mount the card to allow headless configuration
- Pull card out, reinsert for next steps

=== Enable SSH
- create file called "ssh" (or ssh.txt) in the Boot partition

=== Setup WiFi Headless

- create the file wpa_supplicant.conf  
   (quote chars must be straight up/down, traditional, not slanted/matched Unicode chars

country=US
ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1

network={
    ssid="YOUR_SSID"           
    psk="YOUR_WIFI_PSWD"
    key_mgmt=WPA-PSK
}

=== disable ipv6  (I need, you may not)

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

==== Raspbian First Boot 
-insert micro SD card
-power on
- on mac:  arp -a to check IP

=== First Login  
ssh pi@10.0.0.XX

The default login for Raspbian is username pi with the password raspberry. 

=== if see SSH HOST KEY verification failed
on mac:  ssh-keygen -R 10.0.0.XX 



Login: username: pi  password: raspberry

=== Configure for locale, timezone, and expand filesystem to fill card
$ sudo raspi-config
   (You can exit menus by using Tab key, move to Finish, enter key)

  change password to mynewpipw
  Network Options: change hostname to ROSPI
  change Localisation:Locale -> remove en_GB, add en_US.UTF8
                                default local: en_US.UTF-8
  change Localisation:Timezone-> US->Eastern
  change Localisation:WiFi Country->US
  Interfacing:PiCamera enable

  reboot now yes

=== LOG IN Again

pi:mynewpipw

=== Change TightVNC password ====

at a terminal:
  vncpasswd -print
  <new password> mynewpipw	
  <new password> mynewpipw



=== update now
sudo apt-get update
sudo apt-get upgrade


==== Check  TEMPERATURE 


To view the Pi's temperature
   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
   Stretch kernal: Linux version 4.19.66-v7+ (Aug 15 2019)



free -h     displays memory usage 
              total        used        free      shared  buff/cache   available
Mem:           875M         69M        540M         11M        266M        745M
Swap:           99M          0B         99M



=== check memory usage program 

htop
q to exit


Record the ipV4 addresses:  ifconfig
  wired:  
  wifi: 
    ROSPI       : 10.0.0.XX  

=====GETTING WIFI NETWORK DETAILS

To scan for WiFi networks, use the command
   iwlist scan | less 

=== check time zone
$ date         to check if correct time


========= SSH from mac to Pi =====
(SSH enabled in raspi-config)


ssh -l pi 10.0.0.xxx   
or 
ssh pi@10.0.0.xxx
password: rasberry (changed to mynewpw)


===== rebooting ====
sudo shutdown -r now  (or sudo reboot)
(if doesn’t come back up try
sudo shutdown -t9 -r now  
or (sync;sync;sudo reboot -d -f -i)

==== check disk file systems =====
df -h  
Filesystem      Size  Used Avail Use% Mounted on
/dev/root        15G  4.2G  9.9G  30% /
devtmpfs        434M     0  434M   0% /dev
tmpfs           438M     0  438M   0% /dev/shm
tmpfs           438M   12M  427M   3% /run
tmpfs           5.0M  4.0K  5.0M   1% /run/lock
tmpfs           438M     0  438M   0% /sys/fs/cgroup
/dev/mmcblk0p1   42M   21M   21M  51% /boot
tmpfs            88M     0   88M   0% /run/user/1000

==== disk space of a directory: 

$ du -hD

===== update and upgrade ===

$ sudo apt-get update
or
sudo apt-get sudo apt-get -o Acquire::ForceIPv4=true upgrade

$ sudo apt-get upgrade

===== Fix pip  ?

$sudo pip install --upgrade requests

===== test internet speed ====
$ sudo pip install speedtest-cli
$ speedtest



Speedtest Result 

  2019Sep03:  39.55 Mbps Download, 11.52 Up 34ms ping



===== describe hardware =====

sudo apt-get install lshw  

sudo lshw


=== check memory ===
sudo lshw
... 
*-memory
          description: System memory
          physical id: 4
          size: 862MiB

or 
 
$ free -h
             total       used       free     shared    buffers     cached
Mem:          862M       232M       630M       5.9M        14M       177M
Swap:          99M         0B        99M


======  Testing Disk speed =====
sudo hdparm -t /dev/mmcblk0  (sudo apt-get install hdparm)

reports 
  Pi3B+:  68 MB in 3.01s = 22.61 MB/sec

======= check OS version ======
cat /etc/os-release

 
PRETTY_NAME="Raspbian GNU/Linux 9 (stretch)"
NAME="Raspbian GNU/Linux"
VERSION_ID="9"
VERSION="9 (stretch)"
ID=raspbian
ID_LIKE=debian
HOME_URL="http://www.raspbian.org/"
SUPPORT_URL="http://www.raspbian.org/RaspbianForums"
BUG_REPORT_URL="http://www.raspbian.org/RaspbianBugs"

==== check Pi firmware version


vcgencmd version
uname -a


==== SHUTTING DOWN Pi ======
sudo poweroff  ( or shutdown -h now )
Safe to remove power when green light blinks a bunch (12 times) and then stops blinking




=== Setup remote desktop 

tightvncserver
pw: mynewpipwd
setup viewonly pw: no

default is 1024x768  can change:  tightvncserver -geometry 1920x1080 

=== to get tightvncserver to start automatically at boot:  (Doesn't work??)



on Mac:
command-K to invoke Apple Remote Desktop (ARD) which does vnc protocol

Server Address:
vnc://ROSPI.local:5901 or  10.0.0.XX:5901

=== stretch power management off to limit Tx excessive retries and ping request timeouts
(10 timeouts/hour with pm:on, about 5/hour with pm:off)

check with:
iwconfig wlan0     (look at power management:  )

set temporarily with:
sudo iwconfig wlan0 power off

set permanently with:
sudo nano /etc/rc.local
add:
iwconfig wlan0 power off


=== Set SWAPSIZE bigger to build ROS ===
sudo nano /etc/dphys-swapfile
add:

# CONF_SWAPSIZE=100
# Increase swapsize to build ROS
CONF_SWAPSIZE=1024

(sudo reboot)
Check with: free -h




From: http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi

$ sudo apt-get install dirmngr

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

## FAILED with gpg: keyserver receive failed: Address family not supported by protocol
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116


## Install Key: took this from section 1.3 http://wiki.ros.org/kinetic/Installation/Ubuntu

$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654


Install Bootstrap Dependencies

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

# Init rosdep
$ sudo rosdep init

Update ros dependencies
$ rosdep update

# Create a catkin workspace
$ mkdir -p ~/ros_catkin_ws
$ cd ~/ros_catkin_ws

# fetch packages: CHOOSE CUSTOM LIST

# CUSTOM: (ROS-COMM plus dependencies for GoPiGo3 Node)
$ cd ~/ros_catkin_ws

$ rosinstall_generator ros_comm geometry_msgs rospy sensor_msgs nav_msgs tf --rosdistro kinetic --deps --wet-only --tar >kinetic-custom_ros.rosinstall

$ wstool init src kinetic-custom_ros.rosinstall
(or wstool merge -t src kinetic-custom_ros.rosinstall  if adding to existing ROS)

( skipping 3.2.1 unavailable dependency collada_urdf since not installing desktop)

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


# Build the catkin workspace (using extra swapspace and -j2 option)
$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j2

== fix error
File "./src/catkin/bin/../python/catkin/builder.py", line 66, in <module>
    from catkin_pkg.terminal_color import ansi, disable_ANSI_colors, fmt, sanitize
ImportError: No module named terminal_color

copy raw content of https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/src/catkin_pkg/terminal_color.py into 
sudo nano /usr/lib/python2.7/dist-packages/catkin_pkg/terminal_color.py


# Try again:
# Build the catkin workspace (using extra swapspace and -j2 option)
$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j2

```
pi@ROSPI:~/ros_catkin_ws $ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j2

# Setup to "Source" the ROS setup script on login

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

# and do it once right now
source /opt/ros/kinetic/setup.bash









=== Installing GOPIGO3 ROS NODE ===
based on: https://github.com/ros-gopigo/gopigo3_node/wiki/Installation

and formerly: https://medium.com/robotics-with-ros/starting-with-ros-on-the-gopigo3-and-the-raspberry-pi-af62104d401e


=== Update GoPiGo3 software to latest (This must be done on the GoPiGo3!):

(REBOOT BEFORE STARTING UPDATE)

cd ~

sudo curl -kL dexterindustries.com/update_gopigo3 | bash

=== Update DI Sensors 

sudo curl -kL dexterindustries.com/update_sensors | bash

=== REBOOT
sudo shutdown -h now
wait 20
push power button
wait 20
push power button


=== create ROS workspace
cd ~
mkdir -p gopigo3_ws/src


=== check out the source for the node and build
git clone https://github.com/ros-gopigo/gopigo3_node.git
cd gopigo3_node
sudo mv * ~/gopigo3_ws/src
cd ~/gopigo3_ws

rosdep install --from-paths src --ignore-src -y
#All required rosdeps installed successfully

catkin_make

# add the GoPiGo3 environment var to bashrc
echo "source ~/gopigo3_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

cd ~/gopigo3_ws/devel
source setup.bash

# TEST ROS GoPiGo3 Node
cd ~/gopigo3_ws/devel
roslaunch gopigo3_node gopigo3.launch


=== OUTPUT OF TEST =====
pi@ROSPI:~/gopigo3_ws/devel $ roslaunch gopigo3_node gopigo3.launch
... logging to /home/pi/.ros/log/60e1e0aa-cff4-11e9-bab6-b4750e1f7fdb/roslaunch-ROSPI-1692.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ROSPI:35717/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    gopigo3 (gopigo3_node/gopigo3_driver.py)

auto-starting new master
process[master]: started with pid [1723]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 60e1e0aa-cff4-11e9-bab6-b4750e1f7fdb
process[rosout-1]: started with pid [1777]
started core service [/rosout]
process[gopigo3-2]: started with pid [1783]
GoPiGo3 info:
Manufacturer    :  Dexter Industries
Board           :  GoPiGo3
Serial Number   :  BA93EB4F514E3437324A2020FF04XXXX
Hardware version:  3.x.x
Firmware version:  1.0.0
new_angle2 0.0
new_angle2 0.0
new_angle2 0.0
...
new_angle2 0.00496001689136
new_angle2 0.0198400675654
new_angle2 0.0396801351308
new_angle2 0.0644802195876
new_angle2 0.084320287153
new_angle2 0.10912037161