[Dprglist] Installing ROS on RPI4
Chris N
netterchris at gmail.com
Sun Sep 26 14:12:41 PDT 2021
Kumar,
I'm using ROS1 on a Pi 4 under Raspberry Pi OS. You basically have 3
options.
1) Use Ubuntu instead of Raspberry Pi OS.
That's probably the most convenient and most "turn key" route, because
after a few basic prerequisite steps, any ROS package is basically just an
"apt instal xyz" away. That's what the instructable is doing. What you
give up is a bit of performance. Last time I tried Ubuntu 20.04, I noticed
some definite performance disadvantages compared to Raspberry Pi OS. I
think my Python code was simply using a lot more CPU. Not to the point
where it is a show-stopper, but it just bothered me. I was concerned that
I would discover additional performance issues. Basically, Ubuntu does not
seem to be as optimized for the RPi hardware, as Raspberry Pi OS.
2) Run Ubuntu 20.04 inside a docker container on top of Raspberry Pi OS.
There are docker images readily available that are already set up with ROS.
Since a docker container is just a fancy "sandbox" and not a full blown
VM, you don't necessarily lose much performance. It's not very space
efficient though. It "costs" you a couple of GB of storage, because you
basically end up installing a good chunk of Ubuntu. But who cares. uSD
cards are cheap. I have this currently on my Pi 4, but have not found
myself using it as much as option 3) below, mainly because of the added
complexity and minor gotchas associated with docker. I'm struggling
enough as it is to remember all the things I need to remember with ROS, and
now I need to also remember (or look up) how to do things with docker?
3) Build ROS from scratch for Raspberry Pi OS.
I have done this with ROS Melodic and I'm currently using that install.
I'm not 100% sure if it is possible with ROS Noetic (i.e. latest ROS1), and
maybe that's why I pursued route #2 at one stage.
Is this what you tried so far? This is a bit tricky. The build, which
takes forever, fails at one point (which is expected), and then one has to
tweak a few things and restart the build etc. etc. There is a convoluted
sequence of steps one has to execute to add a ROS package, etc. etc. (I
actually found it easier to git clone certain ROS packages into the
catkin_ws, rather than follow the procedure for adding them into /opt/ros
install folder)
Let me know which option you tried pursuing!
Chris.
On Sun, Sep 26, 2021 at 3:34 AM Thalanayar Muthukumar via DPRGlist <
dprglist at lists.dprg.org> wrote:
> Thanks Doug. I will check this out.
> I have tried various things but not succeeded yet.
>
> Regards.
> - Kumar
>
> Sent from my iPhone
>
> On Sep 26, 2021, at 1:10 AM, Doug Paradis <paradug at gmail.com> wrote:
>
>
> Kumar,
> You might find this Instructable useful:
> https://www.instructables.com/Using-RPlidar-With-Robot-Navigation/.
> Regards,
> Doug P.
>
> On Sat, Sep 25, 2021 at 11:58 PM Doug Paradis <paradug at gmail.com> wrote:
>
>> Kumar,
>> Harold has worked with ROS2. I believe Chris has worked with ROS1.
>> They generally are present at RBNV on Tuesday.
>>
>> Regards,
>> Doug P.
>>
>> On Sat, Sep 25, 2021 at 10:50 PM Thalanayar Muthukumar <tnkumar at gmail.com>
>> wrote:
>>
>>> Hi Doug,
>>>
>>> I am going with ROS1 as I have heard it is the stable release.
>>> Would you propose to go with ROS2?
>>>
>>> Regards.
>>> - Kumar
>>>
>>> On Sat, Sep 25, 2021 at 9:17 PM Thalanayar Muthukumar <tnkumar at gmail.com>
>>> wrote:
>>>
>>>> ROS1
>>>>
>>>> On Sat, Sep 25, 2021 at 9:00 PM Doug Paradis <paradug at gmail.com> wrote:
>>>>
>>>>> Kumar,
>>>>> Are you planning to use ROS2 or ROS1?
>>>>> Regards,
>>>>> Doug P.
>>>>>
>>>>> On Sat, Sep 25, 2021 at 8:29 PM Thalanayar Muthukumar via DPRGlist <
>>>>> dprglist at lists.dprg.org> wrote:
>>>>>
>>>>>> I figured this out by using instructions from Exomy software
>>>>>> instructions …
>>>>>>
>>>>>> Sent from my iPhone
>>>>>>
>>>>>> > On Sep 25, 2021, at 5:32 PM, Thalanayar Muthukumar <
>>>>>> tnkumar at gmail.com> wrote:
>>>>>> >
>>>>>> > I am struggling with installing ROS on RPI4. I guess there are
>>>>>> some dependencies with Ubuntu images that should be used. Has anybody done
>>>>>> this and can provide guidance? I want to subsequently connect RPLIDAR A1M8
>>>>>> >
>>>>>> > Regards.
>>>>>> > - Kumar
>>>>>> >
>>>>>> > Sent from my iPhone
>>>>>> >
>>>>>> >> On Sep 25, 2021, at 4:24 PM, dprglist-request at lists.dprg.org
>>>>>> wrote:
>>>>>> >>
>>>>>> >> Send DPRGlist mailing list submissions to
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>>>>>> >>
>>>>>> >> Today's Topics:
>>>>>> >>
>>>>>> >> 1. Re: ChiBot RoboMagellan videos from 2010-2012 (
>>>>>> jsampson at pobox.com)
>>>>>> >> 2. Who Knew? The Most Important Device In The Universe Is
>>>>>> >> Powe? (Carl W Ott Jr)
>>>>>> >>
>>>>>> >>
>>>>>> >>
>>>>>> ----------------------------------------------------------------------
>>>>>> >>
>>>>>> >> Message: 1
>>>>>> >> Date: Fri, 24 Sep 2021 23:29:19 +0000 (UTC)
>>>>>> >> From: "jsampson at pobox.com" <jsampson at pobox.com>
>>>>>> >> To: "dprglist at lists.dprg.org" <dprglist at lists.dprg.org>
>>>>>> >> Subject: Re: [Dprglist] ChiBot RoboMagellan videos from 2010-2012
>>>>>> >> Message-ID: <807121260.773830.1632526159852 at mail.yahoo.com>
>>>>>> >> Content-Type: text/plain; charset="utf-8"
>>>>>> >>
>>>>>> >> I have two older ChiBots Robomagellan videos on my YouTube channel
>>>>>> from 2009.https://www.youtube.com/user/jws8675309/videos
>>>>>> >> Jeff Sampson
>>>>>> >>
>>>>>> >>> Message: 1
>>>>>> >>> Date: Wed, 22 Sep 2021 21:37:59 -0500
>>>>>> >>> From: Doug Paradis <paradug at gmail.com>
>>>>>> >>> To: DPRG <dprglist at lists.dprg.org>
>>>>>> >>> Subject: [Dprglist] ChiBot RoboMagellan videos from 2010-2012
>>>>>> >>>
>>>>>> >>> Several years ago I watched these videos hosted from the old
>>>>>> ChiBot
>>>>>> >>> website. They show a nice variety of robots with different levels
>>>>>> of
>>>>>> >>> success. They motivated me to start to build my own rover. I
>>>>>> thought that
>>>>>> >>> when the ChiBot club website went dark, the videos were lost. I
>>>>>> believe the
>>>>>> >>> club died. However, searching around tonight I found the playlist
>>>>>> at
>>>>>> >>>
>>>>>> https://www.youtube.com/playlist?list=PLJpO4U4ErJiwNC2Dzm36eEW2S89NSG9gS
>>>>>> .
>>>>>> >>>
>>>>>> >>> If you need some inspiration for the next RoboColumbus, check
>>>>>> them out.
>>>>>> >>>
>>>>>> >>> BTW, ChiBots seems to have been restarted. I wish them luck.
>>>>>> >>>
>>>>>> >>> Regards,
>>>>>> >>> Doug P.
>>>>>> >>
>>>>>> >>
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>>>>>> >>
>>>>>> >> ------------------------------
>>>>>> >>
>>>>>> >> Message: 2
>>>>>> >> Date: Sat, 25 Sep 2021 15:06:07 -0500
>>>>>> >> From: Carl W Ott Jr <carl.ott.jr at gmail.com>
>>>>>> >> To: DPRG D-List <dprglist at dprg.org>
>>>>>> >> Subject: [Dprglist] Who Knew? The Most Important Device In The
>>>>>> >> Universe Is Powe?
>>>>>> >> Message-ID: <7AA798A6-7123-45A3-A04F-ABC0381ABCD1 at gmail.com>
>>>>>> >> Content-Type: text/plain; charset=us-ascii
>>>>>> >>
>>>>>> >>
>>>>>> https://hackaday.com/2021/09/23/the-most-important-device-in-the-universe-is-powered-by-a-555-timer/
>>>>>> >>
>>>>>> >> ------------------------------
>>>>>> >>
>>>>>> >> Subject: Digest Footer
>>>>>> >>
>>>>>> >> _______________________________________________
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>>>>>> >> ------------------------------
>>>>>> >>
>>>>>> >> End of DPRGlist Digest, Vol 60, Issue 14
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