levi

The Lightweight Economical Vacuum Intelligence

Installation

sudo apt install python3-colcon-common-extensions

sudo apt install python3-vcstool

sudo apt install python3-rosdep2

sudo apt-get install build-essential

# Install libcreate dependencies: https://github.com/AutonomyLab/libcreate/tree/a8e274be1559a5c921463629f57d5b6dfeed1583?tab=readme-ov-file#install
 sudo apt-get install build-essential cmake libboost-system-dev libboost-thread-dev

Install xtensor-dev

Adding Swapfile:

https://www.digitalocean.com/community/tutorials/how-to-add-swap-space-on-ubuntu-20-04

Using CoralAI

https://coral.ai/docs/accelerator/get-started/

Add their deb package repo

echo "deb https://packages.cloud.google.com/apt coral-edgetpu-stable main" | sudo tee /etc/apt/sources.list.d/coral-edgetpu.list

curl https://packages.cloud.google.com/apt/doc/apt-key.gpg | sudo apt-key add -

sudo apt-get update

Install the Edge TPU runtime:

sudo apt-get install libedgetpu1-std

Optional (Check above link for increasing speeds)
Install PyCoral Library (requires python3.6 to python3.9 [may need to use pyenv https://realpython.com/intro-to-pyenv/])

sudo apt-get install python3-pycoral

4.1 Installing pyenv

sudo apt-get install -y make build-essential libssl-dev zlib1g-dev \
libbz2-dev libreadline-dev libsqlite3-dev wget curl llvm libncurses5-dev \
libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl

curl https://pyenv.run | bash

# Then run anything that gets printed to the terminal

# Print the python versions available in pyenv
pyenv install --list

# Install a specific version for example 3.7.2
pyenv install -v 3.7.2

Documentation on running create3_sim:

https://github.com/iRobotEducation/create3_sim/tree/humble

Nav2 Dependencies

sudo apt-get install -y libbondcpp-dev  # In actuality, I ended up using rosdep and importing things from .repos file

sudo apt install ros-navigation2

sudo apt install ros-nav2-bringup

sudo apt-get install ros-humble-turtlebot3

Roomba_rpi project

https://github.com/process1183/roomba-rpi/blob/master/docs/roomba_remote_control.md

ROS on Steam Deck Discussion

https://discourse.ros.org/t/ros-on-steam-deck/27283/14

RoboStack Documentation on Running ROS with Mamba

https://robostack.github.io/GettingStarted.html

Docker and ARM

https://www.docker.com/blog/getting-started-with-docker-for-arm-on-linux/

https://www.stereolabs.com/docs/docker/building-arm-container-on-x86/

https://hub.docker.com/r/arm64v8/ros/

Building in arm docker container:

Git clone this repo

Install libignition from here: https://gazebosim.org/api/math/5.0/install.html

Run the following to install required build packages:

apt update && apt install git wget build-essential libboost-system-dev libboost-thread-dev libboost-program-options-dev libboost-test-dev libbondcpp-dev libignition-math6-dev ros-humble-test-msgs ros-humble-angles ros-humble-control-msgs ros-humble-diagnostic-updater

Configuring static ip on ubuntu server on raspi:

https://linuxopsys.com/topics/configure-static-ip-on-ubuntu

https://stackoverflow.com/questions/77352932/ovsdb-server-service-from-no-where

# run this first
sudo apt-get install linux-modules-extra-raspi
# run this then
sudo apt-get install openvswitch-switch-dpdk

Running ROS2 on startup:

TMUX

Cheat Sheet

https://tmuxcheatsheet.com/

Pyroombaadapter

https://github.com/AtsushiSakai/PyRoombaAdapter

Cameras

https://www.raspberrypi.com/documentation/computers/camera_software.html#building-libcamera-and-rpicam-apps

https://medium.com/@gibryonbhojraj/how-to-raspberry-pi-64-bit-with-camera-support-def95f206188

Install raspi-config
May need to comment out gpu_mem in config.txt
To list the number of connected cameras as seen here

vcgencmd get_camera

Install v4l2-ctl

  sudo apt install v4l-utils

Install ffmpeg

sudo apt install ffmpeg

To build libcamera and rpicam-apps, they need meson >=0.64.0

  sudo pip3 install meson==0.64.0 # Needs to be installed using sudo since: https://github.com/mesonbuild/meson/issues/8425

First need to install and build libcamera:

  sudo apt install -y python3-pip git python3-jinja2
  sudo apt install -y libboost-dev
  sudo apt install -y libgnutls28-dev openssl libtiff5-dev pybind11-dev
  sudo apt install -y qtbase5-dev libqt5core5a libqt5gui5 libqt5widgets5
  sudo apt install -y meson cmake
  sudo apt install -y python3-yaml python3-ply
  sudo apt install -y libglib2.0-dev libgstreamer-plugins-base1.0-dev

  # Checkout libcamera
  cd
  git clone https://github.com/raspberrypi/libcamera.git
  cd libcamera
  meson setup build --buildtype=release -Dpipelines=rpi/vc4,rpi/pisp -Dipas=rpi/vc4,rpi/pisp -Dv4l2=true -Dgstreamer=enabled -Dtest=false -Dlc-compliance=disabled -Dcam=disabled -Dqcam=disabled -Ddocumentation=disabled -Dpycamera=enabled

  ninja -C build   # use -j 2 on Raspberry Pi 3 or earlier devices
  sudo ninja -C build install

Installing tflite

# https://lindevs.com/install-precompiled-tensorflow-lite-on-raspberry-pi/
wget https://github.com/prepkg/tensorflow-lite-raspberrypi/releases/latest/download/tensorflow-lite_64.deb

sudo apt install -y ./tensorflow-lite_64.deb

# Can remove the .deb with:
rm -rf tensorflow-lite_64.deb

# To install a tflite model to test:
wget -O model.tflite https://www.dropbox.com/s/b1426ewx13idlr0/simple_linear_regression.tflite?dl=1

Installing tflite_runtime

pip3 install tflite-runtime

Installing rpicam-apps:

  sudo apt install -y libcamera-dev libjpeg-dev libtiff5-dev
  # https://www.raspberrypi.com/documentation/computers/camera_software.html#building-rpicam-apps
  sudo apt install -y cmake libboost-program-options-dev libdrm-dev libexif-dev
  sudo apt install -y meson ninja-build

  # Install the following for libav support:
  sudo apt install libavcodec-dev libavdevice-dev libavformat-dev libswresample-dev

Then run the following:

  # Hmm, I appear to be having the same issue: https://forums.raspberrypi.com/viewtopic.php?t=356482
  # Potentially could be a fix for the above: https://stackoverflow.com/questions/61058722/how-can-i-specify-library-path-when-using-meson
  cd
  git clone https://github.com/raspberrypi/rpicam-apps.git
  cd rpicam-apps
  meson setup build -Denable_libav=false -Denable_drm=true -Denable_egl=false -Denable_qt=false -Denable_opencv=true -Denable_tflite=true
  meson compile -C build # use -j1 on Raspberry Pi 3 or earlier devices
  sudo meson install -C build
  sudo ldconfig # this is only necessary on the first build

Raspi Config file

https://www.raspberrypi.com/documentation/computers/config_txt.html
https://forums.raspberrypi.com/viewtopic.php?t=310359
- Potentially comment out gpu_mem in config.txt

Installing dependencies for building all

# After building ros2 humble from source

# Install libcreate dependencies: https://github.com/AutonomyLab/libcreate/tree/a8e274be1559a5c921463629f57d5b6dfeed1583?tab=readme-ov-file#install
 sudo apt-get install -y build-essential cmake libboost-system-dev libboost-thread-dev

# Install bondcpp dependency for nav2
sudo apt-get install -y libbondcpp-dev
sudo apt-get install -y libboost-program-options-dev

# On raspberry pi I deleted the create3_sim package from simulation
# Manually installed the diagnostics package into the ros folder within the ros workspace using git: https://github.com/ros/diagnostics.git

# Building nav2:
sudo apt-get install -y libgraphicsmagick++1-dev
# Need to install additional ros packages: could add them to a .repos file or just use git

# This is the list of needed repos that would be pulled in via vcs: https://github.com/ros-planning/navigation2/blob/main/tools/underlay.repos
git clone --branch v3.8 https://github.com/BehaviorTree/BehaviorTree.CPP.git
git clone --branch humble https://github.com/ros-planning/navigation2.git
git clone --branch ros2 https://github.com/ros/angles.git
git clone --branch ros2 https://github.com/ros/bond_core.git
git clone --branch humble https://github.com/ros-perception/vision_opencv  # For anv2_waypoint_follower


## Install dependencies for nav2: <-- next time probably better to follow instructions on how to build from source as seen herer: https://navigation.ros.org/development_guides/build_docs/index.html#rolling-development-source
sudo apt-get install -y libceres-dev    # Ceres
sudo apt-get install -y libxtensor-dev  # xtensor
sudo apt-get install -y libompl-dev     # ompl
sudo apt-get install libboost-python-dev # CV_bridge
sudo apt-get install libgeographiclib-dev # robot_localization
# Yeah probably just do the following next time:

source <ros_ws>/install/setup.bash
mkdir -p ~/nav2_ws/src && cd ~/nav2_ws
git clone https://github.com/ros-planning/navigation2.git --branch $ROS_DISTRO ./src/navigation2
vcs import ./src < ./src/navigation2/tools/underlay.repos
rosdep install -y \
  --from-paths ./src \
  --ignore-src
colcon build \
  --symlink-install


# Install ceres-solver
# http://ceres-solver.org/installation.html
# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# Use ATLAS for BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse (optional)
sudo apt-get install libsuitesparse-dev

# To skip warnings as errors:
colcon build --symlink-install --cmake-args -DCMAKE_CXX_FLAGS="-w"

Hardware:

https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor/pinouts

Modified netplan back to original

To change static ip, use /etc/dhcpcd.conf instead

Links:

Micro USB DIY Connectors: https://www.amazon.com/diymore-Micro-Connector-Plastic-Cover/dp/B01M0KVDPQ?th

Name		Name	Last commit message	Last commit date
Latest commit History 144 Commits
app		app
docs		docs
media		media
scripts		scripts
src		src
.gitmodules		.gitmodules
Dockerfile		Dockerfile
README.md		README.md
setup.sh		setup.sh

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Repository files navigation

levi

The Lightweight Economical Vacuum Intelligence

Installation

Adding Swapfile:

Using CoralAI

Documentation on running create3_sim:

Nav2 Dependencies

Roomba_rpi project

ROS on Steam Deck Discussion

RoboStack Documentation on Running ROS with Mamba

Docker and ARM

Building in arm docker container:

Configuring static ip on ubuntu server on raspi:

Running ROS2 on startup:

TMUX

Cheat Sheet

Pyroombaadapter

Cameras

Install ffmpeg

Installing tflite

Installing tflite_runtime

Raspi Config file

Installing dependencies for building all

Modified netplan back to original

Links:

About

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michael-f-smith/levi

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Repository files navigation

levi

The Lightweight Economical Vacuum Intelligence

Installation

Adding Swapfile:

Using CoralAI

Documentation on running create3_sim:

Nav2 Dependencies

Roomba_rpi project

ROS on Steam Deck Discussion

RoboStack Documentation on Running ROS with Mamba

Docker and ARM

Building in arm docker container:

Configuring static ip on ubuntu server on raspi:

Running ROS2 on startup:

TMUX

Cheat Sheet

Pyroombaadapter

Cameras

Install ffmpeg

Installing tflite

Installing tflite_runtime

Raspi Config file

Installing dependencies for building all

Modified netplan back to original

Links:

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