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sbc_setup

SBC Setup​

danger

WARNING

  • This process may take long time. Do not attempt to complete setup on battery power, connect your SBC to a wall power supply.
  • An HDMI monitor and input devices such as a keyboard and a mouse will be required to complete this setup.
  • In order to use the webOS Robotics Platform, please refer to webOS Robotics Platform for further instructions. Packages will be cross-compiled using OpenEmbedded on a higher performance PC and an image file created for installation on the SBC.

Prepare microSD Card and Reader​

If your PC does not have a microSD slot, please use a microSD card reader to burn the recovery image.

The microSD card reader is not included in the TurtleBot3 package.

Install Raspberry Pi Imager​

Download the Raspberry Pi Imager to install Ubuntu Server 22.04 for Raspberry Pi.
If the Raspberry Pi Imager is already installed, update to the latest version.
Please refer to this article to find more information about Raspberry Pi Imager.

tip

Download Raspberry Pi Imager from raspberrypi.org

Click here to expand more details about How to install Raspberry Pi Imager.

Install either the deb or apt rpi-imager release.

  1. deb
    Download deb file
$ cd Downloads
$ sudo dpkg -i imager_[you_rversion]_amd64.deb #check the file name downloaded

If you have any dependency errors, use the following command to force the install.

$ sudo apt-get install -f
$ rpi-imager
  1. apt
$ sudo apt install rpi-imager
$ rpi-imager

Install Ubuntu 22.04​

  1. Run Raspberry Pi Imager
  2. Click CHOOSE OS.
  3. Select Other gerneral-purpose OS.
  4. Select Ubuntu.
  5. Select Ubuntu Server 22.04.5 LTS (64-bit) that support RPi 3/4/400.
    (Choose Server OS, not desktop OS)
  6. Click CHOOSE STORAGE and select the micro SD card.
  7. Click Next to install Ubuntu.
  8. Click Edit Setting for wifi and ssh setting.
  9. Set username and password, Configure wireless LAN, Wireless LAN country. And activate Enable SSH with Use password authenication in SERVIES tab.
  10. By completing this configuring setup process, the following Wi-Fi configuration steps (up to step 4) can be skipped.

Configure the Raspberry Pi​

The HDMI cable must be connected before powering on the Raspberry Pi, or the HDMI port of the Raspberry Pi will be disabled.

  1. Boot Up the Raspberry Pi
    * More information about where to connect HDMI, power and input devices is available here
    a. Connect the HDMI cable to the HDMI port of Raspberry Pi.
    b. Connect input devices (generally keyboard) to the USB port of the Raspberry Pi.
    c. Insert the microSD card into Raspberry Pi.
    d. Connect the power (either USB or OpenCR) to turn on the Raspberry Pi.
    e. Login with ID ubuntu and PASSWORD ubuntu. Once logged in, you'll be asked to change the password.

  2. Open the network configuration file with the command below.
    [TurtleBot3 SBC]

$ sudo nano /etc/netplan/50-cloud-init.yaml

  1. Edit the content to match the image below while replacing WIFI_SSID and WIFI_PASSWORD with your actual wifi SSID and password.

  2. Save the file with Ctrl+S and exit with Ctrl+X.

  3. Enter the command below to edit the automatic update settings file.
    [TurtleBot3 SBC]

$ sudo nano /etc/apt/apt.conf.d/20auto-upgrades
  1. Change the update settings to match those below.
    [TurtleBot3 SBC]
APT::Periodic::Update-Package-Lists "0";
APT::Periodic::Unattended-Upgrade "0";

  1. Save the file with Ctrl+S and exit with Ctrl+X.

  2. Set systemd to prevent boot-up delay even if there is no network at startup. Run the command below to set mask for the systemd process using the following command.
    [TurtleBot3 SBC]

$ systemctl mask systemd-networkd-wait-online.service
  1. Disable Suspend and Hibernation
    [TurtleBot3 SBC]
$ sudo systemctl mask sleep.target suspend.target hibernate.target hybrid-sleep.target
  1. Reboot the Raspberry Pi.
    [TurtleBot3 SBC]
$ sudo reboot
  1. After rebooting the Raspberry Pi, if you wish to work from a Remote PC using SSH, use the command below from the remote PC terminal. Make sure to use the password you set in Step 1.
    [Remote PC]
$ ssh ubuntu@{IP Address of Raspberry PI}

Click here to expand more details about how to connect through ssh

  1. Edit the SSH configuration files
    [TurtleBot3 SBC]
$ sudo nano /etc/ssh/sshd_config.d/50-cloud-init.conf


2. Install net-tools and check your ip.
[TurtleBot3 SBC]

$ reboot
$ sudo apt update
$ sudo apt install net-tools
$ ifconfig


3. Enter the command below on the remote PC and use your password for the Ubuntu system.
[Remote PC]

$ ssh ubuntu@{IP Address of Raspberry PI}

Install packages on Raspberry PI​

If you are using the TurtleBot3 2GB, make sure to create swap memory for building packages. Otherwise, you may run out of memory and package building may fail.

  • Create 2GB swap memory. [TurtleBot3 SBC]
$ sudo fallocate -l 2G /swapfile
$ sudo chmod 600 /swapfile
$ sudo mkswap /swapfile
$ sudo swapon /swapfile
  • The following command ensures that the swap file is automatically activated when the system is rebooted.
$ echo '/swapfile none swap sw 0 0' | sudo tee -a /etc/fstab
  • Check swap memory.
$ free -h

  1. Install ROS2 Humble Hawksbill
    [TurtleBot3 SBC]
    Follow the instructions from the official ROS2 Humble installation guide. Installing ROS-Base(Bare Bones) is recommended.

  2. Install and Build ROS Packages.
    Building the turtlebot3 package may take longer than an hour. Please use a wall plug power supply to ensure the system is always powered.
    [TurtleBot3 SBC]

$ sudo apt install python3-argcomplete python3-colcon-common-extensions libboost-system-dev build-essential
$ sudo apt install ros-humble-hls-lfcd-lds-driver
$ sudo apt install ros-humble-turtlebot3-msgs
$ sudo apt install ros-humble-dynamixel-sdk
$ sudo apt install ros-humble-xacro
$ sudo apt install libudev-dev
$ mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
$ git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git
$ git clone -b humble https://github.com/ROBOTIS-GIT/ld08_driver.git
$ git clone -b humble https://github.com/ROBOTIS-GIT/coin_d4_driver
$ cd ~/turtlebot3_ws/src/turtlebot3
$ rm -r turtlebot3_cartographer turtlebot3_navigation2
$ cd ~/turtlebot3_ws/
$ echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
$ source ~/.bashrc
$ colcon build --symlink-install --parallel-workers 1
$ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
$ source ~/.bashrc
  1. USB Port Settings for OpenCR
    [TurtleBot3 SBC]
$ sudo cp `ros2 pkg prefix turtlebot3_bringup`/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules /etc/udev/rules.d/
$ sudo udevadm control --reload-rules
$ sudo udevadm trigger
  1. ROS Domain ID Setting In ROS2 DDS communication, ROS_DOMAIN_ID must match between the Remote PC and TurtleBot3 for communication in the same network environment.The following commands show how to assign a ROS_DOMAIN_ID to the SBC of the TurtleBot3.
  • The default ID of the TurtleBot3 is 30.
  • Configuring the ROS_DOMAIN_ID for the Remote PC and SBC of the TurtleBot3 to 30 is recommended.
    [TurtleBot3 SBC]
$ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
$ source ~/.bashrc

WARNING : Do not use an identical ROS_DOMAIN_ID to others in the same network. It will cause a conflict of communication between users under the same network environment.

LDS Configuration​

LDS-01LDS-02LDS-03

Depending on your LDS model, use the appropriate model: LDS-01, LDS-02, or LDS-03.
[TurtleBot3 SBC]

$ echo 'export LDS_MODEL=LDS-01' >> ~/.bashrc # If you are using LDS-01
$ echo 'export LDS_MODEL=LDS-02' >> ~/.bashrc # If you are using LDS-02
$ echo 'export LDS_MODEL=LDS-03' >> ~/.bashrc # If you are using LDS-03

Apply changes with the command below.
[TurtleBot3 SBC]

$ source ~/.bashrc

Raspberry Pi Camera​

Introducing how to use the RPi camera with TurtleBot3 running Ubuntu 22.04 on a Raspberry Pi. There are various ways to publish the output of a RPi camera as a topic.
One method is to use the camera-ros package, and another method is to use the v4l2-camera package.

Method 1. Using the camera-ros package

This method is suitable for Raspberry Pi cameras using the libcamera stack. It is ideal for projects that demand high-quality imaging and fine-tuned control over camera settings. For more information about camera_ros, see the camera_ros website.

1. Install Required Tools
[TurtleBot3 SBC]

$ sudo apt update
$ sudo apt install -y python3-pip git python3-jinja2 \
libboost-dev libgnutls28-dev openssl libtiff-dev pybind11-dev \
qtbase5-dev libqt5core5a libqt5widgets5 meson cmake \
python3-yaml python3-ply \
libglib2.0-dev libgstreamer-plugins-base1.0-dev
$ sudo apt install ros-humble-camera-ros
  • python3-colcon-meson : Enables colcon to build Meson-based packages like libcamera
  • python3-ply : Required by libcamera’s code generation tools
  • ros-humble-camera-ros: Installs the camera_ros node that uses libcamera

2. Clone libcamera Source
This step clones the official Raspberry Pi fork of libcamera, which provides full compatibility and optimized support for Raspberry Pi camera modules.
[TurtleBot3 SBC]

$ git clone -b v0.5.2 https://github.com/raspberrypi/libcamera.git

3. Build and Install libcamera
This installs libcamera to /usr/local and makes it available system-wide.
[TurtleBot3 SBC]

$ cd libcamera
$ meson setup build --buildtype=release -Dpipelines=rpi/vc4,rpi/pisp -Dipas=rpi/vc4,rpi/pisp -Dv4l2=true -Dgstreamer=enabled -Dtest=false -Dlc-compliance=disabled -Dcam=disabled -Dqcam=disabled -Ddocumentation=disabled -Dpycamera=enabled
$ ninja -C build -j 1
$ sudo ninja -C build install -j 1
$ sudo ldconfig

After installation, add the installation path of the built libcamera to LD_LIBRARY_PATH so that it is used.

$ export LD_LIBRARY_PATH=/usr/local/lib/aarch64-linux-gnu:$LD_LIBRARY_PATH

4. Launch the Camera Node
You can now launch the camera node using the provided launch file.
[TurtleBot3 SBC]

$ ros2 launch turtlebot3_bringup camera.launch.py

5. View Camera Input
You can verify that the camera node is publishing image data correctly using rqt_image_view, a GUI tool for displaying ROS 2 image topics.
[Remote PC]

$ rqt_image_view

Method 2. Using the v4l2-camera package

This method is better suited for USB cameras and legacy Raspberry Pi camera setups. It relies on the V4L2 (Video4Linux2) framework, making it simpler to set up and compatible with a broader range of devices. For more information about v4l2_camera, see the v4l2_camera website.

NOTE: These instructions are specifically for Raspberry Pi devices running Ubuntu 22.04.

1. Install ros-humble-v4l2-camera, raspi-config, ros-humble-image-transport-plugins, v4l-utils.
[TurtleBot3 SBC]

$ sudo apt-get install ros-humble-v4l2-camera raspi-config ros-humble-image-transport-plugins v4l-utils
  • ros-humble-v4l2-camera: A package that publishes camera output as a topic.
  • raspi-config: A tool for configuring camera device connections on Raspberry Pi.
  • ros-humble-image-transport-plugins: Converts image_raw to compressed images for smoother transmission.
  • v4l-utils: A utility that assists with connection.

2. Run raspi-config
v4l2-camera package uses the legacy driver. So we must configure the use of the legacy driver. If this step is completed, the camera node of the camera-ros package will no longer be able to detect the camera. To use the camera-ros package after this step, you must disable the legacy driver again.
[TurtleBot3 SBC]

$ sudo raspi-config

Select Interface Options.

Select I1 and set enable legacy camera support. This allows the use of the legacy driver, bcm2835 MMAL.

3. Enable Legacy Camera Stack
Open the configuration file /boot/firmware/config.txt.
[TurtleBot3 SBC]

$ sudo nano /boot/firmware/config.txt

4. Modify or add the following lines

  # Disable libcamera auto detect
  camera_auto_detect=0
  # Enable legacy camera stack for bcm2835-v4l2
  start_x=1

If you plan to use the camera-ros package after this step, make sure to remove or comment out the lines camera_auto_detect=0, start_x=1, dtoverlay=imx219 in your configuration file.

5. Reboot the System
[TurtleBot3 SBC]

$ sudo reboot

6. You can check camera_name by this command.
[TurtleBot3 SBC]

$ v4l2-ctl --list-devices

In this case, camera name is mmal_service_16.1.

7. Run v4l2_camera_node
[TurtleBot3 SBC]

$ ros2 run v4l2_camera v4l2_camera_node

8. View Camera Input
You can verify that the camera node is publishing image data correctly using rqt_image_view, a GUI tool for displaying ROS 2 image topics.
[Remote PC]

$ rqt_image_view
tip

NOTE
To optimize camera data transmission speed, try the following methods.

  • Use /camera/image_raw/compressed
    Subscribing directly to the /camera/image_raw topic can cause significant latency if the network is slow or bandwidth is limited. You can select /camera/image_raw/compressed in rqt_image_view.

  • Adjust Resolution
    Higher resolutions require more bandwidth, which can cause lag. So, lowering the resolution can reduce latency and improve performance. A recommended resolution is 320x240, which strikes a good balance between image quality and transmission speed and can be adjusted via command.

More Info
For detailed specifications and advanced settings, please check the 13.More Info - 13.1.Appendixes - Raspberry Pi Camera for a comprehensive guide on hardware capabilities and software features.

Camera Calibration
If you plan to use advanced vision features like camera calibration, you can find the detailed instructions here.

Trouble Shooting
If the error message Unable to open camera calibration file appears, check the solution here.

Please refer to the Ubuntu Blog posts below for more useful information.

This is it! Now you are done with SBC setup :)
Next Step : OpenCR Setup

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