The complete process of migrating ROS (Fuerte) to beagleboneblack

Install Ubuntu on SD card

Reference: http://embeddedprogrammer.blogspot.co.at/2012/10/beaglebone-installing-ubuntu-1210.html

1. First download the relevant Image File

Wget http://rcn-ee.net/deb/rootfs/raring/ubuntu-13.04-console-armhf-2013-07-22.tar.xz

2. The next step is to decompress the package.

Tar xjf ubuntu-13.04-console-armhf-2013-07-22.tar.xz

CD ubuntu-13.04-console-armhf-2013-07-22

3. Execute the script file in the folder

Sudo./setup_sdcard.sh -- MMC/dev/sdx -- uboot (beaglebone Version)

Corresponding version:

· Beagleboard ax/Bx-beagle_bx

· Beagleboard CX/DX-beagle_cx

· Beagleboard XM-beagle_xm

· Beaglebone/Black-bone/bone_dtb

· Pandabard ax-Panda

· Pandaboard es-panda_es

For example: sudo./setup_sdcard.sh -- mmc/dev/sdX -- uboot bone

4. Select the corresponding drive letter of the sd mount, which is generally sdbX.

ROS on Beaglebone black

Porting environment:

PC: Ubuntu 12.04

ARM processor: Cortex-A8

ARM Operating System: Ubuntu13.04

ROS version: Fuerte

The porting process is mainly based on the tutorials on the official website:

Http://www.ros.org/wiki/fuerte/Installation/Ubuntu/Source

1. Update the source list

Can refer to the tutorials on the official website: http://www.ros.org/wiki/groovy/Installation/Ubuntu#groovy.2BAC8-Installation.2BAC8-Sources.Setup_your_sources.list

Here I use:

Ubuntu 12.10 (Quantal)

Sudo sh-c 'echo "deb http://packages.ros.org/ros/ubuntu quantal main">/etc/apt/sources. list. d/ros-latest.list'

Wget http://packages.ros.org/ros.key-O-| sudo apt-key add-

Sudo apt-get update

2. Install related software and required library files

Sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools mercurial git-core python-yaml libapr1-dev libaprutil1-dev libbz2-dev python-dev python-empy python-nose libgtest-dev python -paramiko libboost-all-dev liblog4cxx10-dev pkg-config python-wxgtk2.8 python-matplotlib libwxgtk2.8-dev python-imaging python-gtk2 graphviz libqt4-dev python-numpy swig

Due to the large number of installations, the installation time is also relatively long if all the installation methods reach more than 600 mb.

3. Create a swig-wx file and download the compiled code.

Sudo apt-get install autoconf

Sudo apt-get install bison ++ automake

Git clone https://github.com/ros/swig-wx.git

Cd swig-wx

./Autogen. sh &./configure & make & sudo make install

Sudo easy_install pip

Sudo pip install-U rosinstall vcstools rospkg rosdep

4. Install the code library

I use the smallest package here. If the first compilation fails, an error occurs during the compilation of opencv.

Rosinstall -- catkin ~ /Ros-underlay http://ros.org/rosinstalls/fuerte-ros-base.rosinstall

5. The next step is to compile

Cd ~ /Ros-underlay

Mkdir build

Cd build

Install it to/opt/ros/fuerte

Cmake...-DCMAKE_INSTALL_PREFIX =/opt/ros/fuerte

Make-j8

Note: Before compilation, you must put the allocated swap partition space in the system, observe the memory consumption, and reach more than 1 GB of memory during compilation, the compilation process consumes a lot of memory resources.

The compilation process takes a long time to compile with beaglebone.

Well, it has been compiled by now, and no error has occurred.

Sudo make install

./Opt/ROs/Fuerte/setup. Sh

Which roscore

Install advanced robot libraries and related tools

Rosinstall ~ /ROs "http://packages.ros.org/cgi-bin/gen_rosinstall.py? Rosdistro = Fuerte & variant = desktop & overlay = No"

Set the ROS Environment

Source ~ /ROs/setup. Bash

Echo "Source ~ /ROs/setup. Bash ">> ~ /. Bashrc

.~ /. Bashrc

Now, Ros has been installed.

----- What are the errors? Hope to point out -----