"The Early Bird" release

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rospberrycore

A complete, ready-to-load Raspberry Pi Zero W Raspbian image with ROS Melodic. Set up as a ROS Appliance in support of Todd the Quad Type 2/3/S.

Just write the image to a MicroSD card and boot it up. Roscore runs on the Raspberry Pi Zero W as master. From there you can connect to it from any windows / linux / mac machine with as a remote master.

Everything takes about 3 minutes to boot, but once it does you have:

• Raspbian Buster Lite Image from 2019-09-26
• All raspian updates installed as of 2019-12-26
• ROS Melodic installed with the following packages
• ros, ros_comm, roslint, geometry, common_msgs, std_srvs, image_common, image_transport_plugins, usb_cam
• create_ap to set up device as an access point
• RTIMULib2 for the 9260 imu library
• rtimulib_ros to interface with the 250 imu
• ros-pwm-pca9685 for the servo driver
• gpiozero for gpio
• ros systemd automatic startup of roscore and todd.launch (with modifications)
• windows/samba share to directly access the toddcore ros files in catkin_ws
• SSH enabled to access todd directly via Putty or other ssh client

todd.launch launches the following ros nodes on bootup:

• a camera node (320x200 @ 5fps)
• a servo_node (16 channel pwm servo driver @ 50hz, 16bit, raw pwm probably in range of 2800 to 7600)
• an imu node (using RTIMULib and sensor fusion, 20 updates a second)
• an ultrasonic sensor node (5 updates a second)
• a simple temperature node (for the pi)

toddcore configuration:

• local login is pi / rospberry
• ssid for access point is todd, password is rospberry
• rosmaster is 192.168.12.1
• pi directory is shared as todd, user/password is pi/rospberry
• create_ap starts at boot (sudo systemctl enable create_ap)
• roscore starts at boot (sudo systemctl enable roscore.service)
• roslaunch starts "roslaunch todd todd.launch" at boot (sudo systemctl enable roslaunch.service)

what's missing / next / on the FIXME list?

• RTIMUCal seems to ignore keypresses during calibration, so no imu fusion (yet)
• current todd samba share is readonly
• configure access point via config file
• configure samba fileshare via config file
• configure nodes via config file:
  • camera parameters (resolution, framerate)
  • ultrasonic sensor parameters (updates per second)
  • imu parameters (updates per second)
• a way to synchronize time between toddcore and the real world