ARM ROSling test platform. On the left is the USB camera and powered hub; on the right is the Wi-Fi router; center top is
the BeagleBone Black; center bottom is the Arduino with ultrasonic range sensor. To the upper left of the Wi-Fi router is
the 5V voltage regulator and the heatsink is just visible. Infrared proximity sensors are located near the wheels.
NAME=”Ubuntu” VERSION=”12.04.4 LTS, Precise Pangolin” ID=ubuntu ID_LIKE=debian PRETTY_NAME=”Ubuntu precise (12.04.4 LTS)” VERSION_ID=”12.04”
sudo apt-get install ros-hydro-navigation (ans) ros-hydro-rosbash
Be sure to:
sudo apt-get install python-rosinstall
Follow the excellent instructions at http://wiki.ros
Next, install a catkin workspace; go to http://wiki.ros.
You can’t run a full ROS desktop on a BBB, but you can
get a full navigation stack via:
Software Stack on BeagleBone
ROS Hydro Navigation (Naimart Repositories)
After this, you can get some added packages for your
robot. I usually install the RBX1 stacks and the
ROS_Arduino_Bridge stacks from Pi Robot and Patrick
Goebell. Please buy his excellent book on ROS, now
available from LuLu. I believe a sequel has also just become
available for advanced ROS on smaller platforms.
RBX1 (ROS By Example; Patrick Goebell)
This is what my catkin/src directory has for the BBB:
CMakeLists.txt camera_umd rbx1 ros_arduino_bridge
Table 1. Software Stack on ARM-based computer board.
Getting these packages are via the git clone command,
68 SERVO 10.2014