Raspberry Pi 4B Setup

This guide outlines the process of setting up a Raspberry Pi onboard companion computer without the need for a mouse or keyboard, using Ubuntu 20.04 Server Image.

Flashing OS on the Board

1. Install rpi-imager

   • Run sudo apt install rpi-imager to install the Raspberry Pi Imager.

   • Insert the microSD card into your computer.

2. Choose OS and Storage

   • Open Raspberry Pi Imager and select "Choose OS".

   • Navigate to the Ubuntu 20.04 Server image.

   • Select your microSD card under "Choose Storage".

3. Configure Settings

   • Click on the settings icon.

   • Enable "Enable SSH".

   • Set a username and password (e.g., "pi").

   • Configure wireless LAN to connect to your Wi-Fi network.

4. Write OS to microSD

   • Click "Write" to write the OS to the microSD card.

5. Boot the Board

   • Insert the microSD card into the board.

   • Check the LED status to confirm booting from the card.

Setting up Ubuntu Server Image for ARIITK

1. Basic Linux Setup

   sudo apt-get update
   sudo apt-get upgrade
   timedatectl set-local-rtc 1 --adjust-system-clock
   sudo apt-get install git

2. ROS Setup

   # Setup sources.list
   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
   
   # Setup keys
   sudo apt install curl
   curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
   
   # Installation
   sudo apt update
   sudo apt install ros-noetic-base
   
   # Initialize rosdep
   sudo apt install python3-rosdep
   sudo rosdep init
   rosdep update
   
   # Setup environment
   echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
   source ~/.bashrc
   
   # Fulfill dependencies
   sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

3. MAVROS Setup

   # install some dependencies
   sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
   
   # install MAVROS
   sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras
   
   cd ~/
   
   wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
   sudo chmod a+x install_geographiclib_datasets.sh
   sudo ./install_geographiclib_datasets.sh
   
   # Install catkin tools
   sudo apt-get install python3-catkin-tools
   
   # Updating MAVProxy and pymavlink (new versions released now and then)
   sudo pip install --upgrade pymavlink MAVProxy
   
   #Setup MAVROS to begin communication
   cd ~/
   
   # Setup MAVROS workspace
   mkdir -p ~/ardupilot_ws/src
   cd ~/ardupilot_ws
   catkin init
   
   # Create launch file for MAVROS
   cd src
   mkdir launch
   cd launch
   roscp mavros apm.launch apm.launch
   sudo gedit apm.launch #opens a text editor, follow the next command (you can also do it using any other editor of your choice, for eg. by using 'code .' commmand)
   
   #To proxy to a Ground Control Station like QGC or Mission Planner on ground we just need to modify the first line to <arg name="fcu_url" default="udp://:{ground-port}@{ground-hostname}" />. save you file and launch it with-
   cd ~/ardupilot_ws/src/launch
   roslaunch apm.launch
   

4. QGC Setup

   To configure QGroundControl for communication with MAVROS:

   1. Open QGroundControl

      • Launch QGroundControl on your ground station device.

   2. Configure UDP Settings

      • Navigate to 'Application Settings'.

      • Go to the 'Comm Links' tab.

      • Click 'Add' in the options menu.

      • Select 'Type' as 'UDP'.

      • Enter the{ground-port} in "Port" and {ground-hostname} in "Server Addresses (optional)"

   3. Connect

      • Click "OK" to save the settings.

      • Click on the "Connect" tab to establish the connection from side menu

   Ensure that your onboard companion computer and ground station are connected to the same LAN setup via a router for proper communication.

Ensure both the board and the ground station are connected to the same LAN setup for the proxy to work.