ROS on Raspberry Pi 3B

ROS on Raspberry Pi 3B

Prepare Ubuntu Mate 16.04

• Download SD Card Formatter then install it.
• Download Win32 Disk Imager
• Download Ubuntu Mate 16.04 - recommended then unzip it.

Install Ubuntu on Raspberry Pi

• Insert Pi’s SD Card into Card Reader and connect to your computer (windows)
• Use Card Formatter formatting the SD Card
  
• Use Win32 Disk Imager writing the Ubuntu Mate 16.04 to the SD Card.
  
• Insert the SD Card back into the Pi. Connect it with your screen, then turn on the power.
• After log in, set up configuration.

SSH and VNC

• Open Terminal

sudo raspi-config

• Select Interface Options
• Open SSH
• Install x11vnc, if you don’t have a screen, you can access to the GUI by vnc.

wget https://github.com/longhr/ubuntu1604hub/raw/master/ubuntu1604VNC.sh
chmod u+x ubuntu1604VNC.sh
sudo ./ubuntu1604VNC.sh

The system will restart once you finish installation.
If failed, type in the last command again

• use x11vnc -geometry 1920x1080 to open a vnc connection.

Install ROS

Follow these ROS Kinetic installation steps.

Test ROS

• Open a terminal then type in: roscore.
• Open a new terminal then type in: rosrun turtlesim turtlesim_node.
• Open a new terminal then type in: rosrun turtlesim turtle_teleop_key. Then you can control the turtle by arrow keys.
• Open a new terminal then type in: rviz.
• Open a new terminal then type in: gazebo.

Then ROS can be used normally .

转载于:https://www.cnblogs.com/JamesDYX/p/10645495.html