Installation notes

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Installing picamera, Depthsense DS325 and ROS2 on ubuntu for Raspi3

  • Ubuntu

We start with a ubuntu install (see https://wiki.ubuntu.com/ARM/RaspberryPi). At upgrade, the Pi is stuck in U-boot. It is mentionned and solved in https://bugs.launchpad.net/ubuntu/+source/linux-raspi2/+bug/1652270

#34

i can confirm that

To fix the uboot error, you have to change the config.txt lines: # set extended DT area #device_tree_address=0x100 #device_tree_end=0x8000 device_tree_address=0x02008000


commented device_tree_end out and made sure device_tree_address was the correct value (0x02008000)

  • Enable firmware access and upgrade

sudo bash -c "echo 'start_x=1' >> /boot/firmware/config.txt" sudo bash -c "echo 'gpu_mem=128' >> /boot/firmware/config.txt"

curl -L --output /usr/bin/rpi-update https://raw.githubusercontent.com/Hexxeh/rpi-update/master/rpi-update && sudo chmod +x /usr/bin/rpi-update sudo rpi-update

or rpi-update 667cfabe63bc663383559ef88317e86f9bd41e45


git clone https://github.com/raspberrypi/userland.git cd userland ./buildme touch ~/.bash_aliases echo -e 'PATH=$PATH:/opt/vc/bin\nexport PATH' >> ~/.bash_aliases echo -e 'LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/vc/lib\nexport LD_LIBRARY_PATH' >> ~/.bash_aliases source ~/.bashrc ldconfig

Give non-root users access to the picam

echo 'SUBSYSTEM=="vchiq",GROUP="video",MODE="0660"' > /etc/udev/rules.d/10-vchiq-permissions.rules usermod -a -G video ubuntu



  • DepthSense

Move the DepthsenseSDK folder in /opt/softkinetic

If some librairies are not found, you should link them: sudo ln –s /lib/arm-linux-gnueabihf/libudev.so.1.3.5 /usr/lib/libudev.so.0 (also maybe same problem with librurbojpeg)

export LD_LIBRARY_PATH=/opt/softkinetic/DepthSenseSDK/lib export DEPTHSENSESDK_DIR=/opt/softkinetic/DepthSenseSDK

If you don't have hands on video devices: sudo chmod 666 /dev/video*. Also, beware the spelling DepthSens/depthsense.


  • ROS2

As mentionned on the ROS2 install page, https://github.com/ros2/ros2/wiki/Linux-Development-Setup:

Internal compiler error

If you experience an ICE when trying to compile on a memory constrained platform like a Raspberry PI you might want to build single threaded (append --make-flags -j1 to the ament.py invocation).

LettuceScan:getting started

  • Connect to the local network LettuceThink.
  • Connect the pi via ssh to LettuceThink on one terminal and to LettuceSee on the other.

On the LettuceSee terminal:

  • Check python and mjpg_streamer are not running, otherwise kill them.
  • run scan3d/calib_or.py


The http request lseeIP:5000/scan3d/all/test will save DepthSense data on lsee.

On the LettuceSee terminal:

  • Run scan3d/circ_traj.py

Troubleshooting:

  • The CNC throws error messages, connect via picocom to the CNC and reset via picocom: picocom -b 115200 -c /dev/ttyACM(0/1).