はじめに
RaspberryPiで、えいやぁとROSをインストールして、さっくり使うまでの手順です。
Raspbianのパッケージ群からインストールします。
（2019/8月現在、Kineticが入ります）
試した環境
~ $ lsb_release -a No LSB modules are available. Distributor ID: Raspbian Description: Raspbian GNU/Linux 9.9 (stretch) Release: 9.9 Codename: stretch ~ $ uname -a Linux raspiap 4.19.66+ #1253 Thu Aug 15 11:37:30 BST 2019 armv6l GNU/Linux
インストール
パッケージを指定してインストールします。
~ $ sudo apt install ros-desktop-python-dev Reading package lists... Done Building dependency tree Reading state information... Done The following additional packages will be installed: adwaita-icon-theme at-spi2-core bzip2-doc bzr catkin cl-actionlib-msgs cl-diagnostic-msgs （・・・略・・・） Need to get 132 MB of archives. After this operation, 668 MB of additional disk space will be used. Do you want to continue? [Y/n] y （・・・略・・・） Setting up ros-base-python-dev (1.7) ... Setting up ros-viz-python-dev (1.7) ... Setting up ros-robot-python-dev (1.7) ... Setting up ros-desktop-python-dev (1.7) ... Processing triggers for libc-bin (2.24-11+deb9u4) ... Processing triggers for systemd (232-25+deb9u11) ... Processing triggers for libgdk-pixbuf2.0-0:armhf (2.36.5-2+deb9u2) ... ~ $
インストール後の処理
rosdepのインストール
~ $ sudo rosdep init
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run
rosdep update
~ $ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Add distro "crystal"
Add distro "dashing"
Add distro "eloquent"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
updated cache in /home/pi/.ros/rosdep/sources.cache
~ $ sync
~ $
catkinワークスペースの設定
~ $ mkdir -p ~/catkin_ws/src ~ $ cd ~/catkin_ws/src ~/catkin_ws/src $ catkin_init_workspace ~/catkin_ws/src $ cd ~/catkin_ws ~/catkin_ws $ catkin_make Base path: /home/pi/catkin_ws Source space: /home/pi/catkin_ws/src Build space: /home/pi/catkin_ws/build Devel space: /home/pi/catkin_ws/devel Install space: /home/pi/catkin_ws/install （・・・略・・・） -- Configuring done -- Generating done -- Build files have been written to: /home/pi/catkin_ws/build #### #### Running command: "make -j1 -l1" in "/home/pi/catkin_ws/build" #### ~/catkin_ws $ cd
bashrcの設定
.bashrcの末尾に、下記の内容を追加します。
（よく使うコマンドのエイリアスも入ってます）
~/catkin_ws $ ~$ nano .bashrc
（・・・略・・・） #for ROS Development source ~/catkin_ws/devel/setup.bash alias cw='cd ~/catkin_ws' alias cs='cd ~/catkin_ws/src' alias cm='cd ~/catkin_ws && catkin_make' export ROS_HOSTNAME=`/bin/hostname` export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
.bashrcを再読込みします。
~$ . .bashrc
動作確認
~ $ roscore ... logging to /home/pi/.ros/log/83138f4e-c53f-11e9-a812-00e04c683e7e/roslaunch-raspiap-7514.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://raspiap:38553/ ros_comm version 1.12.6 SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.6 NODES auto-starting new master process[master]: started with pid [7525] ROS_MASTER_URI=http://raspiap:11311/ setting /run_id to 83138f4e-c53f-11e9-a812-00e04c683e7e process[rosout-1]: started with pid [7538] started core service [/rosout] ^C[rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done ~ $
確認できたら、[Ctrl-C]で終了します。
（おまけ）Grove Base Hat for Raspberry Piも使う
様々なセンサやドライバが豊富なGROVEを活用する際に、
便利なRaspberryPi用IFボード「Grove Base Hat for Raspberry Pi」があります。
これを駆動するのに必要な関連ファイルをインストールします。
前準備
pipをインストールします。
~ $ sudo apt install python-pip -y
インストール
~ $ curl -sL https://github.com/Seeed-Studio/grove.py/raw/master/install.sh | sudo bash -s - （・・・略・・・） Installing collected packages: RPi.GPIO, grove.py Found existing installation: RPi.GPIO 0.6.5 Not uninstalling rpi.gpio at /usr/lib/python3/dist-packages, outside environment /usr Running setup.py install for grove.py ... done Successfully installed RPi.GPIO-0.7.0 grove.py-0.6 9####################################################### Lastest Grove.py from github install complete !!!!! ####################################################### ~ $
動作確認
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