ROS installation on raspberry 3

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Hi,

I did succeed installing ROS indigo Desktop version on my raspberry by following the tutorial, but I didn't followed exactly all the steps because I faced many problems.

First of all, I am not sure if what I did is the perfect way to install it but it works for the moment and I am not facing any major problem with ROS on my raspberry pi.

Secondly, I did it with a raspberry pi 3 with raspbian jessie installed with NOOBS in a 16Gb microSD card.

So first, modify the size of the swap space (you will normally don't need to do it after). So I modified it from 100M to 3,0G. To do so, I opened the dphys-swapfile with a text editor (leafpad for example) and modified it.

$ sudo leafpad /etc/dphys-swapfile

and modified the line CONF_SWAPSIZE=100 with CONF_SWAPSIZE=3000.

I saved, reboot, and kept following the tutorial until the installation of the liburdfom-dev library. After changing the name and pressing enter (as asked in the tutorial), it didn't installed it. I kept following the tutorial and tried to install the libcollada-dev.

After changing the name, it started to compile and put an error (related to liburdfom-dev). So I restarted the tutorial part of liburdfom-dev and after changing the name (again) and pressing enter, it compiled (didn't understand why).

I restarted the libcollada-dev part and it finally compiled.

I then had to patch the collada-urdf, what I did by reading one of theses answers. So I downloaded it, saved as fix.patch in ~/ros_catkin_ws/src/robot_model/collada_urdf/src and lanched the following command line :

$ cd ~/ros_catkin_ws/src/robot_model/collada_urdf/src
$ patch < fix.patch

I then followed the tutorial until the 3.3 Building the catkin workspace section.

I also had a few mysterious errors. I don't know f it's because I didn't do well for the first steps but here is what I have done.

My first error concerned the urdfdom-config.cmake file line 15, it put an error about the urdf_sensor library. So I opened the urdfdom-config.cmake file :

$ sudo leafpad /usr/local/lib/urdfdom/cmake/urdfdom-config.cmake

and changed the line 8 foreach(lib urdfdom_sensor;urdfdom_model_state;urdf_model;urdf_world) by foreach(lib urdfdom_sensor;urdfdom_model_state;urdf_model;urdf_world) (I actually just changed the order of the arguments state_model with sensor). Save and keep going (do not abandon).

Again :

$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo

You will normally get an error with rviz.

Based on this tutorial, so you will have to open mesh_loader.cpp. to do so :

 $ sudo leafpad ~/ros_catkin_ws/src/rviz/src/rviz/mesh_loader.cpp

copy :

#ifdef __arm__                 // fix for ARM build
#include <strings.h>
bool Assimp::IOSystem::ComparePaths(const char *p1, const char *p2) const
{
    return !::strcasecmp(p1, p2);
}
#endif

at the end of the includes part.

Finally again :

$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo

It will take some hours.

If you face problems in the ... (more)