webid#sdcard0703
Download da imagem em:
https://downloads.ubiquityrobotics.com/pi.html
Gravar num sdcard
Fazer o login (password: ubuntu), ssh ubuntu@10.42.0.1
Trocar a password
locale-gen pt_PT.UTF-8
locale-gen en_US.UTF-8
sudo apt update (optional: sudo apt upgrade)
sudo systemctl disable magni-base (o serviço roscore continua a funcionar)
trocar o hostname, https://www.cyberciti.biz/faq/ubuntu-change-hostname-command/
pifi add sid password
reboot
Bibliotecas Instaladas
INSTALL I2Cdevlib:
sudo mkdir -p /usr/share/arduino/libraries cd /usr/share/arduino/libraries sudo git clone https://github.com/chrisspen/i2cdevlib.git
INSTALL Bcm2835:
cd /tmp wget http://www.airspayce.com/mikem/bcm2835/bcm2835-1.50.tar.gz tar zxvf bcm2835-1.50.tar.gz cd bcm2835-1.50 ./configure make sudo make check sudo make install
Pacotes ros instalados
sudo apt-get install ros-kinetic-xv-11-laser-driver
sudo apt-get install ros-kinetic-gmapping
sudo apt-get install ros-kinetic-amcl
sudo apt-get install ros-kinetic-dwa-local-planner
sudo apt install ros-kinetic-robot-pose-ekf
Instalar o pacote do rospibot6
catkin_make (compilar)
sudo bash -c “source /opt/ros/kinetic/setup.bash; source /home/ubuntu/catkin_ws/devel/setup.bash; roslaunch rospibot6 robot6.launch”
rostopic pub –once cmd std_msgs/Int16 “data: 3”
roslaunch rospibot6 teleop.launch