There are several 2 ways to build raspberry pi system. Easiest of courece is to download the image that we are provided.
We are tested and provided several images (https://drive.google.com/drive/folders/1ff6Cl5y6kWvpjLPnML8qoepN1H--mvBu?usp=share_link):
- Raspberry Pi Model 4B 4G RAM
- Raspberry Pi Model 3B
https://cdimage.ubuntu.com/releases/focal/release/
sudo nano /etc/netplan/50-cloud-init.yamladd this line to the file:
wifis:
wlan0:
optional: true
access-points:
"your-ssid":
password: "pass"
dhcp4: true
After this, open terminal and note your IP address. The the setting can be modified:
wifis:
wlan0:
optional: true
dhcp4: false
dhcp6: false
addresses: ["your-IP-address"/24]
nameservers:
addresses: [10.11.12.2]
access-points:
"your-ssid":
password: "pass"
routes:
- to: default
via: 10.100.190.1where 10.11.12.2 is your DNS server IP, and 10.100.190.1 is your router IP. The yaml should look like this:
sudo netplan -debug generateBoth desktop and Raspberry Pi should have IP adresses from the range 169.254.x.x to be ready to connect via ssh. You can verify IP adresses with this commands: for Windows
ipconfigand for Linux (may require net-tools to be installed)
ifconfig -aother options:
ip a
ip addr show
hostname -Ils -la ~/ | more
nano ~/.bashrcuncomment the line:
force_color_prompt=yespress "ctrl + x", press "y", press "enter", write in terminal: exit
See this instructions for the details https://www.digitalocean.com/community/tutorials/how-to-add-swap-space-on-ubuntu-20-04
Restart the device
sudo rebootInstall the Putty software to your desktop https://www.putty.org/
Connect to ssh with IP: 192.168.1.6
sudo apt updatesudo apt install git python3-pip python3-schedule i2c-tools python3-smbus -ymkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/TPODAvia/ROS1-installation.git
chmod +x ROS1-installation/ROS_server.sh
sudo ./ROS1-installation/ROS_server.shecho "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
source /opt/ros/noetic/setup.bash
sudo apt install xterm pi-bluetooth -y
sudo apt install build-essential python3-rosdep ros-noetic-hector-slam libpcl1 ros-noetic-octomap-* -y
# sudo apt-get install ros-noetic-hector-slam -y
# sudo apt install libpcl1 ros-noetic-octomap-* -ysudo nano /lib/udev/rules.d/60-i2c-tools.rulesChange Mode from "0660" to "0666":
KERNEL=="i2c-[1-9]*", GROUP="i2c", MODE="0666"sudo apt-get install python3-scipy ros-noetic-vision-msgs ros-noetic-geometry-msgs -y
# sudo apt-get install ros-noetic-vision-msgs -y
# sudo apt-get install ros-noetic-geometry-msgs -ycd ~/catkin_ws
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrccd ~/catkin_ws/src
git clone https://github.com/TPODAvia/yolov8_ros.git
git clone https://github.com/okalachev/vl53l1x_ros
git clone https://github.com/machinekoder/ar_track_alvar.git -b noetic-devel
git init
git remote add origin https://github.com/TPODAvia/PX4-Autonomous-Vehicle.git
git pull origin maincd ~/catkin_ws
source /opt/ros/noetic/setup.bash
sudo rosdep initNow we need to delete gazebo-related package because it's not neeeded here
sudo rm -r src/px4_sim
sudo rm -r src/world_sim
sudo rm -r src/mavros_humantrackingrosdep update
rosdep install --from-paths src --ignore-src -ysudo /usr/bin/python3 -m pip install -r ~/catkin_ws/src/requirements.txt
sudo /usr/bin/python3 -m pip install -r ~/catkin_ws/src/yolov8_ros/requirements.txtcd ~/catkin_ws
source devel/setup.bash
catkin_make -j1cd
sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.shcd ~/catkin_ws/src/swarms/
sudo wifi-hotspot.shSetting 9250 IMU module with I2C
Setting Raspberry Pi with Arduino
For Linux users there are really simple instructions on the internet how to do it but for Windows users there are some "hacks" how we can create an image backup for our companion computer
Go to the cmd and type:
"C:\Program Files\Oracle\VirtualBox\VBoxManage" internalcommands createrawvmdk -filename "c:/Hard Disks/sdcard.vmdk" -rawdisk "\\.\PHYSICALDRIVE1"
Go to Ubuntu: install GParted
sudo apt install gpartedResize image there
Switch back to Windows and install "win32 disk imager". It's a simple way to create backup file.
Remember to check "Read Only Allocated Partitions"
To delete the link to an SD card in VirtualBox, you can follow these steps:
-
Open the VirtualBox Disk Manager.
-
Locate the sdcard.vmdk file in the list.
-
Select the sdcard.vmdk file and click on the "Remove" or "Delete" button.
From cmd excecute this line of code:
"C:\Program Files\Oracle\VirtualBox\VBoxManage" closemedium "C:\Hard Disks\sdcard.vmdk" --delete
To disable the sleep mode and allow automatic login in Ubuntu using the terminal, follow the steps below:
- Disable Sleep Mode
To disable the sleep mode in Ubuntu, you can use the systemctl command to mask the sleep, suspend, hibernate, and hybrid-sleep targets. This essentially links these unit files to /dev/null, making it impossible for the system to start them Source 2.
You can execute the following command:
sudo systemctl mask sleep.target suspend.target hibernate.target hybrid-sleep.targetKeep in mind that this command will completely disable sleep mode, meaning your system will stay awake indefinitely until you manually put it to sleep or shut it down.
- Enable Automatic Login
To enable automatic login, you'll need to edit the custom.conf file in the /etc/gdm3/ directory. Here is how you can do it:
First, open the file using a text editor such as nano.
sudo nano /etc/gdm3/custom.confFind the section in the file labeled [daemon]. In this section, uncomment (or add if it's not there) the line AutomaticLoginEnable=true and the line AutomaticLogin=[your username], replacing [your username] with your actual username.
Here is how it should look:
[daemon]
AutomaticLoginEnable=true
AutomaticLogin=john_doeAfter making the changes, press Ctrl+X to exit and Y to save the changes. Then, restart your system for the changes to take effect.
Please note that enabling automatic login can pose a security risk as anyone who can access your computer will be able to turn it on and have immediate access to your files and data.
- Handle Lid Close Action
In some cases, you might want to change the action that Ubuntu takes when the laptop lid is closed. To do this, you can edit the /etc/systemd/logind.conf file Source 9.
Open the file using a text editor:
sudo nano /etc/systemd/logind.confFind the line that starts with #HandleLidSwitch=suspend and change it to HandleLidSwitch=ignore. This will make Ubuntu do nothing when the laptop lid is closed.
Here is how it should look:
HandleLidSwitch=ignoreTo prevent Ubuntu from going into suspend mode and turning on the lock screen, you can use the following steps:
- Disable Automatic Lock Screen
To disable the automatic lock screen, you need to change the settings of the GNOME desktop. You can do this using the gsettings command. The following command will disable the lock screen:
gsettings set org.gnome.desktop.session idle-delay 0
gsettings set org.gnome.desktop.screensaver lock-enabled falseThis command will prevent the lock screen from appearing due to inactivity Source 2.
- Disable Lock Screen Upon Suspend
In addition to disabling the automatic lock screen, you may also want to disable the lock screen that appears after your system wakes up from suspend. You can do this with the following gsettings command:
gsettings set org.gnome.desktop.screensaver ubuntu-lock-on-suspend falseThis command will prevent the lock screen from appearing after suspend Source 2.
After making the change, save and close the file, then restart the systemd-logind service by running:
sudo rebootPlease keep in mind that these changes should be made carefully as they can significantly alter the behavior of your system. Always make sure to backup any files you edit in case you need to revert the changes. Again, please note that disabling the lock screen and suspend mode can pose a security risk. Anyone with access to your computer will be able to use it without having to enter a password. Please use these commands responsibly.
- Watchdog
To enable the watchdog timer on your Raspberry Pi running Ubuntu 22.04, you can follow the steps below:
- Activate the hardware watchdog on your Raspberry Pi. In your
config.txtfile, add the following line to enable the watchdog:
dtparam=watchdog=onYou can edit this file using the nano editor with the command sudo nano /boot/config.txt, then add the line above at the end of the file and save it Source 7.
- Reboot your Raspberry Pi. After the reboot, you can check if the watchdog is enabled by running the command
ls -al /dev/watchdog*. You should see output similar to this:
crw------- 1 root root 10, 130 May 19 07:09 /dev/watchdog
crw------- 1 root root 253, 0 May 19 07:09 /dev/watchdog0This indicates that the watchdog is enabled Source 7.
-
Install the watchdog software package with the command
sudo apt-get install watchdogSource 1. -
Configure the watchdog package. Edit the configuration file
/etc/watchdog.confand uncomment or add the following lines:
max-load-1 = 24
min-memory = 1
watchdog-device = /dev/watchdog
watchdog-timeout=15You can edit this file using the nano editor with the command sudo nano /etc/watchdog.conf, then make the changes and save the file Source 7.
-
Start the watchdog service with the command
sudo systemctl start watchdogand enable it to start at boot with the commandsudo systemctl enable watchdogSource 7. -
Verify that the watchdog service is running with the command
sudo systemctl status watchdog. If it's running correctly, you should see output indicating that the service is active Source 1.
With these steps, you should have successfully enabled the watchdog timer on your Raspberry Pi running Ubuntu 22.04. The watchdog timer will help to automatically reboot the system in case it freezes.
Ubuntu Server uses Netplan to manage its connections.
To create an access point using Netplan, you can do the following:
sudo apt update
sudo apt install network-managersudo bash -c "echo 'network: {config: disabled}' > /etc/cloud/cloud.cfg.d/99-disable-network-config.cfg"sudo nano /etc/netplan/50-cloud-init.yamlThen add the following configuration:
network:
version: 2
renderer: NetworkManager
ethernets:
eth0:
dhcp4: true
optional: true
wifis:
wlan0:
dhcp4: true
optional: true
access-points:
"Raspberry":
password: "12345678"
mode: ap
"Additional_WIFI_Name_1":
password: "12345678"
"Additional_WIFI_Name_2":
password: "12345678"You can change the access point name "Raspberry" and the password to your liking.
Then save the file using CTRL+X.
Finally, use use the following commands to apply your new configuration:
sudo netplan generate
sudo netplan apply
sudo rebootA new wireless access point should be created. It has DHCP and DNS enabled by default, and if the Pi has internet access over Ethernet, it'll be shared over the WiFi hotspot as well.
Run this command:
The command template is look like this:
sudo nmcli c up/down your_wifi_nameThis command is used to activate a hotspot connection:
sudo nmcli c up netplan-wlan0-RaspberryTo switch to others WiFi connection - run this
sudo nmcli c up Additional_WIFI_Name_1sudo nmcli c down Additional_WIFI_Name_1nmcli d wifi listnmcli connection show netplan-wlan0-RaspberryThe connections control can be wrapped to the bash script. The example are provided in the bash folder.