Install ROS Kinetic on Raspberry Pi

The ROS system is the most friendly to the Ubuntu system. It seems that it can be installed directly, but I couldn't find it available, so I had to install and use the ROS system on Raspbian, the native system of the Raspberry Pi. The Raspberry Pi I tested is 3B, 1G RAM, I'm going to buy a 4B 8G one.

ready

Of course, the first step is to install the Pie system in accordance with the requirements of raspberry PI and run it normally. If not, go to https://www.raspberrypi.org/software/  .

There was a Chinese tutorial that emphasized that opencv must be installed, and I did so. Install python's opencv (non-compiled method) on the Raspberry Pi . The official tutorial did not see this requirement.

Check the version of os: 
cat /etc/os-release # OS version information

Set up the ROS library

The setting is somewhat related to the version.

Raspbian Stretch:：

Except that dirmngr needs to be installed, everything else is the same as : Raspbian Jessie:.

$ sudo apt-get install dirmngr

Raspbian Buster: Same as Raspbian Jessie.

Raspbian Jessie: 

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Update:

$ sudo apt-get update
$ sudo apt-get upgrade

Install Bootstrap dependencies

Install as follows:

$ sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake

Initialize Rosdep

$ sudo rosdep init
$ rosdep update

 installation

Create catkin workspace

$ mkdir -p ~/ros_catkin_ws
$ cd ~/ros_catkin_ws

Next, you will get the core software package. Use wstool for this. According to the specific requirements of the installation, select the wstool command, here is just one of two options to install one:

ROS-Comm: (Officially recommended) ROS package, build, and communication library. No GUI tool.

$ rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall
$ wstool init src kinetic-ros_comm-wet.rosinstall

Desktop: ROS,  rqt ,  rviz , and robot libraries:

$ rosinstall_generator desktop --rosdistro kinetic --deps --wet-only --tar > kinetic-desktop-wet.rosinstall
$ wstool init src kinetic-desktop-wet.rosinstall

This will add all catkin or wet packages in the given requirements, and then extract the source into the ~/ros_catkin_ws/src directory. This command will take a few minutes to download all core ROS packages to the src folder. The -j8 option downloads 8 software packages in parallel. As the original text says, I didn't see this command here. 

The following is optional, just as an example, you can download more:

$ rosinstall_generator robot --rosdistro kinetic --deps --wet-only --tar > kinetic-robot-wet.rosinstall
$ wstool init src kinetic-robot-wet.rosinstall

 If there is an error in the middle, you can continue. It should be said that the source to be compiled is complete.

wstool update -j4 -t src

Resolve dependent libraries 

Before building the Catkin workspace, you need to make sure that you have all the necessary dependencies. We use the rosdep tool for this, however, there are several dependencies in the repository. They must be built manually first. 

Manually constructed:

If the compilation of collada_urdf fails, you can replace it as follows: 

mkdir -p ~/ros_catkin_ws/external_src
cd ~/ros_catkin_ws/external_src
wget http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip
unzip assimp-3.1.1_no_test_models.zip
cd assimp-3.1.1
cmake .
make
sudo make install

 Use the following method to set the replacement:

$ rosinstall_generator desktop --rosdistro kinetic --deps --wet-only --exclude collada_parser collada_urdf --tar > kinetic-desktop-wet.rosinstall

Use rosdep to solve the dependent library, which is different according to the version, and the command is different:

Raspbian Stretch:

$ cd ~/ros_catkin_ws
$ rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:stretch

Raspbian Jessie:

$ cd ~/ros_catkin_ws
$ rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:jessie

 Raspbian Buster:

$ cd ~/ros_catkin_ws
$ rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:buster

 Compile catkin space

Once you have finished downloading the package and resolved the dependent libraries, you can compile the catkin package.

Invoke catkin_make_isolated:

Note: On Raspbian Buster, compilation may fail with "'boost/tr1/unordered_set.hpp' file not found". This is because the rospack version used in Kinetic depends on boost 1.58. To resolve this error, try to install boost 1.58 manually.

(Note: When using GCC 8, the libboost 1.58 obtained through apt-get is not compatible with librosconsole. The solution is to use GCC 8 to build boost 1.58 from source code, or use an earlier version of ROS for the entire ROS version. Similarly, almost All Kinetic ROS packages use libboost 1.58, and cannot be built with newer versions of libboost, continue to use 1.58 on anything built in the catkin workspace)

(Please note: if you install libpcl later via apt-get (used with rtabmap or other point cloud packages), it will install the latest libboost 1.67 as a dependency. In /usr/local/lib and in /usr/lib The automatic installation of libboost 1.67 in Rtabmap will cause a runtime error in CloudViewer.cpp. Therefore, it is recommended not to actually install the manually built libboost 1.58. Instead, it should be pointed to by BOOST_INCLUDEDIR and BOOST_LIBRARYDIR of boost cmake. The build output of boost is actually directed to you. Shows how to do it.)

Raspbian Buster: This version needs to use the gcc -5 version, and the following operations are required. Is it necessary for others to do the same? I didn't say, but mine is this version.

$ sudo apt remove libboost1.67-dev
$ sudo apt autoremove
$ sudo apt install -y libboost1.58-dev libboost1.58-all-dev
$ sudo apt install -y g++-5 gcc-5
$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 10
$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 20
$ sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-5 10
$ sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-5 20
$ sudo update-alternatives --install /usr/bin/cc cc /usr/bin/gcc 30
$ sudo update-alternatives --set cc /usr/bin/gcc
$ sudo update-alternatives --install /usr/bin/c++ c++ /usr/bin/g++ 30
$ sudo update-alternatives --set c++ /usr/bin/g++
$ sudo apt install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake

Generally use the following command to compile:

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

Swap settings and other solutions to "internal compiler error"

For the 1G Raspberry Pi, the memory is definitely not enough, so you need to set the swap memory to 1G to solve it. See: https://nebl.io/neblio-university/enabling-increasing-raspberry-pi-swap/

In fact, it is very simple, the description is as follows:

1: temporarily close swap: 

sudo dphys-swapfile swapoff

2: Edit the /etc/dphys-swapfile file:

sudo nano /etc/dphys-swapfile

Find CONF_SWAPSIZE and modify it to 1024 (1G), then save and exit.

CONF_SWAPSIZE=1024

3: Initialize swap

sudo dphys-swapfile setup

4: Restart swap

sudo dphys-swapfile swapon

There is also the following command to replace the above compilation command:

$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j2

Here, -j2 is used and the default is -j4, which means 4 cores.

Remember source

After all is compiled, it should be installed, and then source:

$ source /opt/ros/kinetic/setup.bash

Or join to start automatic execution:

$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc

verification

Run roscore

Reference: Test whether the ROS installation is successful

See the installation process above:

Raspbian install ROS system Kinectic|Raspberry Pi 4B install ros using OpenCV (full process)

Installing ROS Kinetic on the Raspberry Pi