Install ROS Kinetic, TurtleBot3, Raspicam on Raspberry Pi 4b

TurtleBot3 Burger comes with Raspberry Pi 3 B/B+ and does not support the new (as of 9/2019) Raspberry Pi 4b. Follow the steps below to make TurtleBot3 work on Raspberry Pi 4b, including

• building ROS Kinetic from sources on Raspberry Pi 4b Raspbian Buster
• adding TurtleBot3-specific packages
• adding raspicam-node to

Download a Raspbian image. I used Raspbian Buster dated 2019–07–10.

Burn the downloaded Raspbian image to an SD card (at least 8Gb in size). Connect a display, keyboard and mouse to your Raspberry Pi 4b, boot and connect to WiFi. Extend file system to occupy your entire SD card and, optionally, enable SSH and VNC by running

sudo raspi-config

The instructions below follow the official ROS tutorial as well as DmitryM8 instructable.

Log in to your Raspberry Pi 4b and execute these commands to add ROS package repository, build tools and initialize ROS dependency tool.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt-get update

sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake

sudo rosdep init

rosdep update

Create a workspace to build ROS Kinetic from source.

mkdir ~/ros_catkin_ws

cd ~/ros_catkin_ws

Download source code for "ros_comm" package, which contains essential modules intended to run on robot's on-board computer. Here rosinstall_generator creates a list of source code repositories to download. wstool then proceeds to download the source code.

rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall

wstool init -j8 src kinetic-ros_comm-wet.rosinstall

rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

To run TurtleBot3 and raspicam you will need these ROS packages in addition to ros_comm: common_msgs, rosserial, image_common, image_transport_plugins and diagnostics. To add these packages run these commands.

rosinstall_generator common_msgs common_msgs rosserial image_common image_transport_plugins diagnostics nodelet_core --rosdistro kinetic --deps --wet-only --tar > kinetic-extra-wet.rosinstall

wstool merge -t src kinetic-extra-wet.rosinstall

wstool update -j8 -t src

rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

As dependencies versions change over time, there may be errors like "python-rosdistro-modules_0.7.5-1_all.deb (--unpack): trying to overwrite '/usr/lib/python2.7/dist-packages/rosdistro/__init__.py', which is also in package python-rosdistro 0.7.2-1". Resolve these "trying to overwrite" errors:

sudo dpkg --remove --force-all python-catkin-pkg python-catkin-pkg-modules python-rosdistro python-rosdistro-modules python-rospkg python-rospkg-modules
// or sudo apt remove <package names>

sudo apt --fix-broken install

Building ROS at this point will fail with various errors. Let's fix those errors by manually editing ROS source code.

Edit

/home/pi/ros_catkin_ws/src/opencv3/modules/python/src2/cv2.cpp line 885

Replace

char* str = PyString_AsString(obj);

with

const char* str = PyString_AsString(obj);

Edit files below.

/home/pi/ros_catkin_ws/src/rospack/include/rospack/rospack.h /home/pi/ros_catkin_ws/src/rospack/src/rospack.cpp /home/pi/ros_catkin_ws/src/rospack/src/utils.cpp

Remove all occurrences of

/tr1

and replace all occurrences of

std::tr1

with

boost

Edit files below.

/home/pi/ros_catkin_ws/src/actionlib/include/actionlib/client/simple_action_client.h /home/pi/ros_catkin_ws/src/actionlib/include/actionlib/destruction_guard.h /home/pi/ros_catkin_ws/src/actionlib/include/actionlib/server/simple_action_server_imp.h /home/pi/ros_catkin_ws/src/actionlib/src/connection_monitor.cpp /home/pi/ros_catkin_ws/src/actionlib/test/destruction_guard_test.cpp /home/pi/ros_catkin_ws/src/bond_core/bondcpp/src/bond.cpp /home/pi/ros_catkin_ws/src/ros_comm/roscpp/include/ros/timer_manager.h /home/pi/ros_catkin_ws/src/ros/roslib/test/utest.cpp

Replace all ocurrences of

boost::posix_time::milliseconds(…)

with

boost::posix_time::milliseconds(int(…))

Edit the file below.

/home/pi/ros_catkin_ws/src/geometry2/tf2/src/buffer_core.cpp

Replace all

logWarn

with

CONSOLE_BRIDGE_logWarn

and

logError

with

CONSOLE_BRIDGE_logError

At this point the build should succeed.

cd ~/ros_catkin_ws

sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic

Append to ~/.bashrc and also execute in your shell:

source /opt/ros/kinetic/setup.bash

These instructions follow ROBOTIS tutorial.

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/

catkin_make

source devel/setup.bash

Edit ~/.bashrc and append

source /home/pi/catkin_ws/devel/setup.bash

Now, execute

cd ~/catkin_ws/src

git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

git clone https://github.com/UbiquityRobotics/raspicam_node.git

cd ~/catkin_ws/src/turtlebot3

rm -r turtlebot3_description/ turtlebot3_teleop/ turtlebot3_navigation/ turtlebot3_slam/ turtlebot3_example/

cd ~/catkin_ws && catkin_make

The build should succeed.

Configure Raspberry Pi 4b to recognize TurtleBot3 USB peripherals.

rosrun turtlebot3_bringup create_udev_rules

Run ifconfig and write down Raspbery Pi's IP.

ifconfig 

Edit ~/.bashrc. Add the lines below and also execute them in your shell.

export ROS_MASTER_URI=http://YOUR.ROS.MASTER.IP:11311

export ROS_HOSTNAME=YOUR.RASPBERRY.PI.IP

Synchronize Raspberry Pi and PC time:

sudo apt-get install ntpdate

sudo ntpdate ntp.ubuntu.com

At this point, your setup should be completed. Now you can use your Raspberry Pi 4b instead of Raspberry Pi 3/3+ in your TurtleBot3.