Trouble using apt to install ROS Noetic on Raspberry PI

asked 2020-10-02 12:16:40 -0600

cjonesy
3 ●4 ●8 ●7

Using a Raspberry Pi 4 with Raspberry Pi OS - Buster. I installed Noetic from source and it's running. I have custom messages and nodes and can pass data between them.

I'm trying to setup rosbridge_server and had to manually install Mongo and a few other libraries using PIP. I'm running into an issue with rosbridge and was told to install those dependencies using rosdep.

So I run rosdep check rosbridge_server and it tells me a number of decencies are missing and to install them with apt but I can't get any to install.

sudo apt install ros-noetic-rosauth says unable to locate package ros-noetic-rosauth.

pi@raspberrypi:/etc/apt/sources.list.d $ cat ros-noetic.list
deb http://packages.ros.org/ros/ubuntu buster main

apt search noetic returns no results either.

I think I have this setup correctly. Any ideas?

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answered 2020-10-14 11:23:57 -0600

DrBot
147 ●28 ●32 ●33

ubuntu-20.04.1-preinstalled-server-arm64+raspi.img.xz This image +

sudo apt install ros-noetic-desktop-full following the step by step ROS instructions worked for me.

usb_cam could see the Raspberry Pi camera.

Some nodes like raspicam_node would not catkin_make, because the ARM64 architecture does not fully support certain features like raspi-config, raspistill so the MMAL architecture is not available. V4L2 is available.

gpu_mem=128
startx=1

need to be added to the /boot/firmware/config.txt (adding them to usercfg.txt has no effect -GRRR.)

Other gottchas - remember you are on python3 - so any .py executables that refer to a 'python' environment will generate a 'missing' error message.

I have seen instructions for installing noetic on Rpi 4 using the Debian Buster image, but I don't think this uses the ARM64 architecture. I looked at the Mate image, but it appears to have the same restrictions as the one I got working.

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answered 2020-10-02 12:56:24 -0600

chives_onion
180 ●4 ●14 ●17

Looking at the ROS docs for rosauth (here), the Jenkins jobs doesn't list a binary for debian buster armhf, so you won't be able to directly pull it on a RPi. There's a couple of solutions you could try:

1) submit an issue with the maintainers on their git asking if they plan on compiling a binary

2) compile it directly from source

3) A little round about, but my personal suggestion, you could run your ROS application within Docker containers and base the image off ubuntu. This would have a bit of a learning curve and potentially require you to set up a crosscompile environment, but in the end you'd benefit from greater control of your environment and general bonuses from containerization.