Total station master installation

For Lora connection we use this dongle.

sudo apt install dkms
cd ~/repos/
git clone https://github.com/rogerjames99/spi-ch341-usb.git
cd spi-ch341-usb
ls /dev
stty -echo raw speed 115200 < /dev/ttyACM1 && cat /dev/ttyACM1

Steps to setup raspberry pi:

1. Wait for cloud-init to finish (around 2 minutes)
2. Fail for password login so:

sudo reboot

2. Login with user: robot, password: you know what
3. Optionnal: Setup keyboard layout -> Canada International: sudo dpkg-reconfigure keyboard-configuration

Fix ethernet connection

More on ethernet connection: netplan connection

4. Modify netplan network config:

sudo vim /etc/netplan/50-cloud-init.yaml

The file must have the following content:

network:
    version: 2
    renderer: networkd
    ethernets:
        eth0:
            dhcp4: true

Using the wired connection (eth0), that is the same as eduroam, we can now ssh into the rpi.

5. Try the new network configuration:

sudo netplan try

6. Apply the modifications made to the network config file:

sudo netplan apply

7. Execute the updates:

sudo apt update
sudo apt upgrade
sudo apt install network-manager
sudo apt install micro
sudo apt install nmcli

8. Reboot:

sudo reboot

Now we can ssh into the rpi using ssh robot@IP_adress

9. To know the IP_adress use:

ip a

Set static IP_adress:

IP adress guide

Install ros2 humble

Installation guide

There is a couples of different commands for ros2 installation in rpi: ros2 installation on rpi

10. Only install the ros-base version:

sudo apt install ros-humble-ros-base

11. Install colcon build and rosdep:

sudo apt update
sudo apt install python3-colcon-common-extensions
sudo apt-get install python3-rosdep
sudo apt install build-essential

12. Source in the bash:

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

13. Create ros2 workspace:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws

14. Colcon build:

colcon build

15. Create symlink build file:

sudo micro symlink_build.sh

The file should look like this:

#! /bin/bash
rosdep install --from-paths src --ignore-src -y -r
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

sudo chmod +x symlink_build.sh

Clone the packages needed:

16. First we need to create the ssh key for Github:

#!/bin/bash
ssh-keygen -t rsa -b 4096 -C "[email protected]"
cat .ssh/id_rsa.pub

Add this key to Github: new SSH key .

17. Initialise rosdep:

sudo rosdep init
rosdep update

18. Clone total station ros2 packages:

cd ~/ros2_ws/src
git clone [email protected]:norlab-ulaval/theodolite_master.git
git clone [email protected]:norlab-ulaval/theodolite_node_msgs.git

19. Install dependencies:

sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libwiringpi-dev

20. Build workspace:

cd ~/ros2_ws
./symlink_build.sh