ROS, Neato driver, Hecor SLAM on Raspberry Pi 2B – Tutorial

RpiandNeato2

 

WARNING: This tutorial is outdated. Things may not work 100%. Please use it for reference purposes only!

 

In the beginning I had a lot of problems with installing ROS on RPI, and considering that you are reading this, you probably have them now. I hope this helps ­čÖé

 

  1. Installing Raspian Jessie on RPI 2
    It’s usually best to begin everything fresh, so follow this link to reinstall your Raspian OS. On Windows I use SDFormatter┬áand Win32DiskImager.

  2. Installing ROS jade
    Follow installation tutorial on┬áthis link┬áand make sure you install ROS Bare Bones.Compiling ROS packages often results in┬áliblog4cxx errors. I found that this command solves that:sudo ln -s /usr/lib/arm-linux-gnueabihf/liblog4cxx.so /usr/lib/liblog4cxx.soAlso, if getting wierd errors when compiling, try running catkin_make with only one core:catkin_make –make-args –j1

    Update:
    I found that installing Jessie and ROS Jade did not work when installed on Kingston class 10 micro SD card. Now I am using SanDisk class 10 and everything works OK. It might just be a problem for that specific card, I’m just putting it out there ­čÖé

  3. Installing Neato driver
    In your workspace/src clone the Neato package
    .
    git clone https://github.com/rohbotics/xv_11_laser_driver.git
    then do:
    sudo ln -s /usr/lib/arm-linux-gnueabihf/liblog4cxx.so /usr/lib/liblog4cxx.so
    cd ..

    catkin_make
    .
    It should not have any problems with compiling
    Neato Connection:
    With RPI you do not need a separate FTDI to connect Neato LIDAR, because you can use onboard serial GPIO pins. Enable them by typing:
    .
    sudo raspi-config
    advanced options->serial->no
    .
    you will have to connect the TX of LIDAR to pin 15 on rasperry
  4. Installing Hector SLAM
    In src/:
    .
    git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git
    .
    And you have to delete hector_compressed_map_transport with:
    .
    cd YOURWS/src/hector_slam
    rm -rf hector_compressed_map_transport
    .
    And then install some dependencies:
    .
    sudo apt-get install qt-sdk ros-jade-laser-geometry ros-jade-tf-conversions
    .
    and then compile with only one core:
    .catkin_make –make-args -j1

 

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