Respberry Pi 3 Model B ubiquity ROS image

1. Developed By: SYED MURTAZA HUSSAIN RIZVI.
Dedication
Specially this project work is dedicated to my parants S.Mujahid hussain (My Father),
Kaneez Fatima Rizvi (My Mother), Institute of Industrial Electronics Engineering: IIEE and to
the students of IIEE.
Contribution
 Thanks to https://www.instructables.com/Using-RPlidar-With-Robot-Navigation/ for
raspberry Pi 3 Model B ubiquity ROS image.
 Thanks to http://chaolong-chen blog.logdown.com/posts/696217-cmake for changing
cmake of ROS built cmake.
 The procedure of downloading image and install it inti raspberry PI 3 Model b is given as
follows.
 https://learn.ubiquityrobotics.com/kinetic_pi_image_downloads or
https://drive.google.com/file/d/1i2dIdWIRxAvBUhbEWWqz2AGqrtGw2dBs/view?usp=share
_link download latest image of ROS kinetic.
 https://etcher.download/ from this link download etcher for writing the image on SD card.
 Insert SD card at-least of 16 Gb of original SanDisk of read 90 mb/sec and write 100 mb/sec
on your computer using card reader and select downloaded image by clicking select from
files and click on write it takes about 10 to 15 min.
 After this insert SD-card on raspberry pi and run.
 Password is ubuntu find terminal and run
This system has already Ros kinetic. Therefore, we started with Connect to the WiFi network that starts
with ubiquityrobot. Password is robotseverywhere. Go to Terminal, and connect to your Pi using ssh
ubuntu@10.42.0.1. Password is ubuntu.

2.  sudo systemctl disable magni-base
 Then disconnect ubiquityrobot network and Connect raspberry pi to your wifi device and
connect with your pc through ssh communication which is given as follows:
 ssh ubuntu@ubiquityrobot.local
 similarly note that : in above last command your pc and raspberry pi must be connected with
same wifi device
 similarly note that : when you connect your pc to raspberry pi again and again you can find
the error of same local host you can solve this by running given commands:
 ssh-keygen -R ubiquityrobot.local
 run again
 ssh ubuntu@ubiquityrobot.local
 Time to upgrade Cmake So we will start by install the cmake 3.7.2 Installation by a PPA
(Upgrade to 3.7). by run given command find your cmake version:
 At my time 3.7 is the latest version and also Arduino ROS serial support up to 3.5. so you
must be upgrade your cmake version if it is 3.5.2 in above given image.
 For upgradation of cmake version run following command :
 sudo apt-get install software-properties-common
 sudo add-apt-repository ppa:george-edison55/cmake-3.x
 sudo apt-get update
 sudo apt-get install cmake
 sudo apt-get upgrade
 curl -sS https://cmake.org/files/v3.4/cmake-3.4.0-Linux-x86_64.tar.gz | sudo tar -xzC /opt
 note that : in above last command you will change 3.4 to 3.7 or above and 3.4.0 to 3.7.2 to
above.
 sudo apt-get install build-essential

3.  wget http://www.cmake.org/files/v3.3/cmake-3.3.2.tar.gz
 similarly note that : in above last command you will change 3.3 to 3.7 or above and 3.3.2 to
3.7.2 to above.
 tar xf cmake-3.3.2.tar.gz
 similarly note that : in above last command you will change 3.3.2 to 3.7.2 to above.
 cd cmake-3.3.2
 similarly note that : in above last command you will change 3.3.2 to 3.7.2 to above.
 ./configure
 make
 sudo apt-get install checkinstall
 sudo checkinstall
 sudo make install
 then installation of RPlidar kinetic installation is follows:
 cd catkin_ws
 cd src
 git clone https://github.com/Slamtec/rplidar_ros.git
 cd ..
 catkin_make
 source devel/setup.bash
 connect rplidar to raspberry pi port and run:
 ls -l /dev |grep ttyUSB
 sudo chmod 666 /dev/ttyUSB0
 roslaunch rplidar_ros view_rplidar.launch
 Next step is to install hector slam package using following commands:
 sudo apt-get install qt4-qmake qt4-dev-tools
 cd catkin_ws
 cd src
 git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git
 cd ..
 catkin_make
 similarly note that : in above last command you will modify some hector slam files you can
do this from Set the Coordinate Frame Parameters heading till end of page in given link:

4.  https://automaticaddison.com/how-to-build-an-indoor-map-using-ros-and-lidar-based-
slam/
 And finally, its time to install Arduino ROSserial and installation ROS libraries in raspberry pi
https://www.youtube.com/watch?v=WLVfZXxpHYI&ab_channel=TizianoFiorenzani you can
follow this tutorial otherwise plz follow given commands:
 https://www.arduino.cc/en/software go site and download Linux ARM file 32-bit like this:
 Extract this file, copy arduino 1.8.13 folder from your download folder to your Desktop and
change name from arduino 1.8.13 to arduino.
 Run given commands:
 cd Desktop/Arduino/
 ./install.sh
 Close terminal and open new terminal and run
 sudo apt-get install ros-kinetic-rosserial-arduino
 sudo apt-get install ros- kinetic-rosserial
 cd Desktop/arduino/libraries/
 ls
 rosrun rosserial_arduino make_libraries.py .
 open arduino and go to files go in examples and see Ros lib is present or not if it is present
well done otherwise again follow the commands carefully.
 Upload your code to Arduino.
 Open terminal and run roscore
 Open 2nd
terminal and run follow command for gateway of serial communication of
aurduino to ros:
 rosrun rosserial_python serial_node.py /dev/ttyUSB0 _baud:=115200
note: usb should be connected on first port and if there is any type of device connect before
usb remove and connect Arduino firstly.

5. ROS master slave communication link
 https://youtu.be/pJ_LL4gGGEM
 THANKS all of you and specially to my teachers who give the idea about this technology.