ros not working properly on ubuntu 20.10

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On a Raspberry Pi 4, ROS Noetic should work on both Arm32 and Arm64 versions of Ubuntu 20.04 via a sudo apt install. Some caveats: The raspicam_node from Ubiquity robots will only work on the Arm32 version. I am sharing my notes on installing a custom image for a Ubiquity Robotics Magni, but getting Noetic up on an RPI 4 seems to be realtively straight forward. The Arm64 Ubuntu supports a desktop-full install, and can run gazebo. The Arm32 Ubuntu 20.04 does not support 'full' so gazebo won't run on this version.

My notes below:

From ubiquity image 16.04

remove ros, disable magni-base.system, comment out last three lines of .bashrc

update upgrade to 18.04 and then 20.04 best to do this while not mounted in robot, connected directly with hdmi, keyboard/mouse – wired ethernet. I’ve had lots of difficulty with the pi 4 I am using losing wireless – this might be just a flakey Pi 4.

This also may involve removal of certain packages. After getting to 20.04 I needed to reinstall lubuntu-desktop and gdm3 (lightdm and sddm seemed to break after 20.04)

ubuntu-20.04.2-preinstalled-server-armhf+raspi.img.xz

starting from 20.04 image use u-boot to add bootdelay – 2 so can boot inserted into Magni add gpu_mem=128 start_x=1 to config.txt to enable raspicam

some of these installs might be duplicates of already installed packages

22 sudo apt install mlocate 25 sudo apt install python-setuptools python3-setuptools 28 sudo apt install unzip 34 sudo apt install make

37 sudo apt install build-essential

ROS + catkin install via typical instructions, but note ros-noetic-desktop-full does not exist for the arm32 (armhf71) architecture

46 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo -E apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt update sudo apt install ros-noetic-desktop

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool (note python3-rosdep NOT python3-rosdep2 !!!!!!!!!

source ros environment

sudo apt install ros-noetic-usb-cam* sudo apt install net-tools sudo apt install network-manager sudo apt install ros-noetic-rosbridge* sudo apt install python-is-python3 sudo apt install ros-noetic-tf2* 160 sudo apt install ros-noetic-teleop-twist*

vision, navigation image

Optional, probably not needed or already part of tf2*: sudo apt-get install ros-noetic-velocity-controllers sudo apt install ros-noetic-diff-drive-controller sudo apt install ros-noetic-joint-state-controller

catkin

?sudo apt install chrony

????------optional---- suggest not using raspi-config on ubuntu------???? sudo dpkg -i /tmp/raspi-config_20200601_all.deb 10 sudo raspi-config install userland ????? may not need if already installed from 16.04 image ????

sudo snap install rpi-userland –edge

copy the userland/opt/vc from snap to opt/vc (this installs the mmal libraries)

pigpiod is needed for pi_sonar

wget https://github.com/joan2937/pigpio/ar... unzip master.zip cd pigpio-master/ make sudo make install

sudo rosdep init rosdep update

catkin mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws/ $ catkin_make

72 git clone http://github.com/ubiquityrobotics/ub... 73 git clone http://github.com/ubiquityrobotics/ma... 74 git clone http://github.com/ubiquityrobotics ... (more)