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ros not working properly on ubuntu 20.10

asked 2021-04-10 06:48:52 -0500

habibabahi gravatar image

I am currently working on a raspberry pi4Model B board. The first step I took was to search the internet for the operating system.Internet website https://www.raspberrypi.org/software/ There is only Ubuntu Desktop 20.10 .And ros is not working properly on ubuntu 20.10 . I need an operating system ubuntu 16.04/18.04/20.04 image (file.img) or (file.zip) Dedicated to raspberry pi 4 board . Of course, I am ready for all your advice.

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When you say 'ros not working properly', what do you mean? Can you elaborate?

Akhil Kurup gravatar image Akhil Kurup  ( 2021-04-11 10:32:15 -0500 )edit
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Per this tutorial, you can install the server version and then install gnome-3 desktop environment for the full desktop experience.

Akhil Kurup gravatar image Akhil Kurup  ( 2021-04-11 10:41:44 -0500 )edit

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answered 2021-04-13 13:10:15 -0500

DrBot gravatar image

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)

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Could you please update your answer using the preformatted text (101010) button? Right now, it's very difficult to read and using that button will make it more readable

jayess gravatar image jayess  ( 2021-04-13 19:25:59 -0500 )edit

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Asked: 2021-04-10 06:48:52 -0500

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Last updated: Apr 13