OS Image:
Linux ubuntu 6.8.0-1018-raspi aarch64 GNU/Linux
Ubuntu 24.04.2 LTS (Noble Numbat)
Ref:
- https://ros.org/reps/rep-2000.html
Setup Ubuntu:
ubuntu login: ubuntu
Password: ubuntu
#change passwd
ls /sys/class/net
ls /etc/netplan/
sudo vi /etc/netplan/50-cloud-init.yaml
{
network:
wifis:
wlan0:
optional: true
access-points:
"SSID-NAME-HERE":
password: "PASSWORD-HERE"
dhcp4: true
}
sudo reboot
sudo netplan --debug apply
ip a
sudo apt update
sudo apt install net-tools
sudo apt install htpdate
sudo timedatectl set-timezone Asia/Bangkok
sudo apt install zram-config
sudo apt install ubuntu-desktop
sudo reboot
sudo vi /boot/firmware/config.txt
{
dtoverlay=vc4-fkms-v3d
}
sudo swapon --show
sudo swapoff -a
sudo rm /swapfile
sudo fallocate -l 5G /swapfile
sudo chmod 600 /swapfile
sudo mkswap /swapfile
sudo swapon /swapfile
sudo reboot
sudo vcgencmd get_mem gpu
sudo free -h
sudo add-apt-repository universe
sudo apt update
sudo apt install build-essential software-properties-common -y
sudo apt install libopenblas-dev libblas-dev m4 cmake python3-dev python3-yaml python3-setuptools git
sudo apt update
sudo apt install curl -y
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 core:
sudo apt update
sudo apt upgrade
#sudo apt install ros-jazzy-ros-base
sudo apt install ros-jazzy-desktop
sudo apt install python3-colcon-common-extensions
sudo apt install ros-jazzy-example-interfaces
Setup ROS2 environment:
source /opt/ros/jazzy/setup.bash
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
Setup Unitree LidarL1 sdk:
sudo apt install ros-jazzy-pcl-ros
sudo apt install ros-jazzy-pcl-conversions
sudo apt install ros-jazzy-visualization-msgs
sudo apt install libeigen3-dev
git clone https://github.com/unitreerobotics/unilidar_sdk.git
cd unilidar_sdk/unitree_lidar_ros2
colcon build
cd unilidar_sdk/unitree_lidar_ros2
source install/setup.bash
ros2 launch unitree_lidar_ros2 launch.py
sudo su
free -h && sync && echo 3 > /proc/sys/vm/drop_caches && free -h
exit
Setup Livox ROS Driver 2:
cd ~
git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd ./Livox-SDK2/
mkdir build
cd build
cmake .. && make -j
sudo make install
cd ~
git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2
cd ./ws_livox/src/livox_ros_driver2
source /opt/ros/humble/setup.sh
./build.sh humble
source ~/ws_livox/install/setup.bash
ros2 launch livox_ros_driver2 rviz_HAP_launch.py
Setup Point-LIO-ROS2:
RUN: