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.