up_board_setup
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| up_board_setup [2017/01/02 21:39] – [Step 2: Update Ubuntu for the UP Board] jadintredup | up_board_setup [2017/01/05 20:01] (current) – [Step 5: Verify Functionality by Launching a Nodelet] jadintredup | ||
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| ==== Step 2: Update Ubuntu for the UP Board ==== | ==== Step 2: Update Ubuntu for the UP Board ==== | ||
| + | Now that Ubuntu is installed on the board, the software needs to be updated before we can install the new kernel. Open a terminal and enter the following commands. | ||
| < | < | ||
| sudo apt update | sudo apt update | ||
| Line 25: | Line 25: | ||
| </ | </ | ||
| + | Once these commands have finished, you can install the new kernel using these commands. Be sure to not skip the last command, as it removes the generic kernel allowing the UPboard to be the default. | ||
| < | < | ||
| sudo add-apt-repository ppa: | sudo add-apt-repository ppa: | ||
| Line 32: | Line 33: | ||
| </ | </ | ||
| + | Reboot the system to ensure you are running the new kernel and then use the uname command to verify. Output text should be similar to ' | ||
| < | < | ||
| sudo reboot | sudo reboot | ||
| + | uname -r | ||
| </ | </ | ||
| + | ---- | ||
| + | ==== Step 3: Provide Kernel Source Access and Install Latest RealSense Patches ==== | ||
| + | Since the release of the UPboard Kernel there have been numerous patches made to enable more RealSense functionality. Before installing ROS and the associated RealSense packages, it is necessary to provide access to the kernel source packages. Use the following command to update the apt's source files. | ||
| + | < | ||
| + | wget -q -O - \ | ||
| + | https:// | ||
| + | | sudo /bin/bash | ||
| + | </ | ||
| + | |||
| + | Now we can move onto installing ROS with RealSense support.\\ | ||
| + | ---- | ||
| + | ==== Step 4: Install ROS Kinetic Distribution ==== | ||
| + | The board used in the Development kit only support Linux distributions and so we can not use the official RealSense SDK, as it is only supported for Windows systems. Instead, we use ROS, as it has packages for RealSense compatibility and is an easy method to interface with robotic platforms.\\ | ||
| + | Launch a terminal shell and run the following commands to add the ROS repository to Ubuntu and update the package lists. | ||
| < | < | ||
| + | sudo add-spt-repository http:// | ||
| + | sudo apt-key adv --keyserver hkp:// | ||
| + | | ||
| + | sudo apt update | ||
| + | </ | ||
| + | Now run these commands to install the base ROS software and RealSense packages | ||
| + | < | ||
| + | sudo apt -y install ros-kinetic-desktop-full python-rosinstall ros-kinetic-realsense-camera | ||
| + | sudo rosdep init | ||
| + | rosdep update | ||
| + | echo " | ||
| + | source ~/.bashrc | ||
| + | </ | ||
| + | Adding setup.bash to the .bashrc file ensures that the ROS framework is available in the active environment. The ros-kinetic-librealsense package adds patches to the kernel that can not take effect until the system has been rebooted. Run a reboot command then ensure the UPboard kernel is still in place. | ||
| + | < | ||
| + | sudo reboot | ||
| uname -r | uname -r | ||
| </ | </ | ||
| + | ---- | ||
| + | ==== Step 5: Verify Functionality by Launching a Nodelet ==== | ||
| + | |||
up_board_setup.1483421945.txt.gz · Last modified: by jadintredup