[TB3] 64 Bit Gentoo Image

TurtleBot
1

Hey all!

As you may have seen, there’s been some significant improvement with respect to Running ROS on Gentoo in the past few months. As such, I’ve compiled a 64-Bit Raspberry Pi 3 image with the necessary ROS components pre-installed!

Link to the image is here.

Info:

OS:

turtlebot@burger ~ $ uname -a
Linux burger 4.9.40-v8+ #1 SMP PREEMPT Thu Aug 3 13:18:43 PDT 2017 aarch64 GNU/Linux

Partitions:

  • /boot: 128M, vfat
  • swap: 512 M
  • /: 14 G, ext4

Compiler:

  • GCC 6.4.0
  • CFLAGS="-march=armv8-a+crc -mtune=cortex-a53 -ftree-vectorize -O2 -pipe -fomit-frame-pointer"
  • MAKEOPTS="-j2"
  • No USE flags are enabled, I left that to you

ROS:

  • kinetic, installed in /opt/ros/kinetic
  • workspace in ~/catkin_ws

Usage:

Not much needs to be adjusted (woot). you’ll need to set up the wifi, however.

User/Password:

  • username is “turtlebot”
  • password is “turtlebot”
  • root password is also “turtlebot”
  • You may consider emerging sudo, if you want.

Wireless:

Edit the file /etc/wpa_supplicant/wpa_supplicant.conf as needed.

ctrl_interface=/run/wpa_supplicant
update_config=1

network={
	ssid="network ssid"
	psk="super secret password"
}

After the wireless is established, you should be able to ssh to the host burger.local.

ROS Setup:

The only thing to change here (as usual) is the ROS_MASTER_URI. Just change this value, and you should be good to go!

What’s Enabled?

  • I know for a fact that the wireless is working.
  • All turtlebot3 packages
  • 64-bit mode
  • Video acceleration (though, if you want to install a desktop, you should remove the line that says gpu_mem in the /boot/config.txt file.

Note: I have not tried anything with bluetooth, so I would not assume it is functioning.

Let me know if you run into any issues! This is certainly not restricted only to turtlebot3 people – you can install most packages now through portage.

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