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Welcome to the karaburan wiki!

SETUP

1. Raspebrry Pi installation very good video how to install ROS2 on a raspberry Pi: https://www.youtube.com/watch?v=saoBiYCi3Uo

install ubunto 24.4

• https://www.raspberrypi.com/software/
• choose HW (Rpi 3)
• choose Ubuntu 24.4 from general other general purpose OS list
• do not forgot to include SSH from the image

Install Jazzy ROS2

• details for the installation of ROS2: https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html
• sudo apt update should bring all necessary packet up to date

import custom karaburan ROS workspace

via git

via USB stick

• copy the ROS2 workspace to the root: from https://github.com/bertrik/karaburan/tree/master via USB stick or SSH ~/ros_ws
• USB stick might need to be mounted first: sudo mkdir /mnt/usb lsblk (which new dev/sdb1 appears when th estick is inserted?) sudo mount /dev/sdb1 /mnt/usb cp karaburan-master/ros_ws/ ~/. -r sudo umount /mnt/usb

SSH on Raspberry pi

• enable ssh: cd /boot touch ssh sudo reboot sudo systemctl status ssh sudo systemctl start ssh sudo systemctl enable ssh

build the ROS2 workspace

-- go to the workspace root and build packages (from the workspace, like lidar, boat_ctrl,...) cd ~/ros_ws Load ROS 2: source /opt/ros/jazzy/setup.bash colcon build --symlink-install

launch a ROS2 script

• link ROS2 source /opt/ros/jazzy/setup.bash
• launch a package: source install/setup.bash ros2 launch navigation boat.launch.py

packages installation, pre-requisites

• maybe some package need to be added: simply apt install it! sudo apt install ros-jazzy-ros2-control this is required fro the SPI bus (IMU): sudo apt install python3-smbus install pip to import new python modules sudo apt install python3-pip

sudo apt install python3-easydict sudo apt install ros-jazzy-tf-transformations

--maybe the package required is from Git: cd ~/ros2_ws/src git clone -b ros2 https://github.com/schnili/mpu9250.git

• optional for simu: git clone -b ros2 https://github.com/SteveMacenski/slam_toolbox.git git clone -b ros2 https://github.com/ros/bond_core.git

then compile again with colcon.... this may take some time on the Rpi (5-10min)

Hardware - wiring

• info IMU interconnect https://github.com/niru-5/imusensor

WIP