Installation¶
This guide walks through setting up Ubuntu 22.04 and ROS 2 Humble on the Raspberry Pi.
Pre-configured image
The lab maintains a pre-configured Raspberry Pi image with ROS 2, the workspace, and all dependencies already set up. If you have access to it, flash that image and skip to Running the Robot.
1. Install Ubuntu 22.04 on Raspberry Pi¶
Use the Raspberry Pi Imager to write Ubuntu 22.04 LTS (64-bit) to an SD card.
- Download Ubuntu for RPi: ubuntu.com/download/raspberry-pi
2. Install ROS 2 Humble¶
Follow the official ROS 2 Humble installation guide, or use the commands below.
# Set locale
sudo apt update && sudo apt install -y locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
# Add ROS 2 apt repository
sudo apt install -y software-properties-common curl
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
-o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
| sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
# Install ROS 2 Humble desktop
sudo apt update && sudo apt install -y ros-humble-desktop
# Install joy package for joystick support
sudo apt install -y ros-humble-joy
3. Source the ROS 2 Environment¶
You need to source ROS 2 every time you open a new terminal. To do this automatically:
4. Set Up the ROS 2 Workspace¶
mkdir -p ~/mobilehri_ws/src
cd ~/mobilehri_ws/src
# Clone the mobile HRI control packages
git clone https://github.com/FAR-Lab/mobilehri2023.git
cd ~/mobilehri_ws
colcon build
source install/setup.bash
Add the workspace to your .bashrc so it's always sourced:
5. Install ODrive Tool¶
The ODrive tool is used to configure and calibrate the motor controller.
Follow instructions here.