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loading Mate are available at https://ubuntu-
mate.org/download. Follow the instructions for 16.04 —
Raspberry Pi 2/3.
You can use an HDMI TV and attached keyboard to
initially set up the Pi, using the graphical environment. It
also helps to have a direct Ethernet connection when doing
the initial setup because you need to load a lot of software
initially. Using a desktop, it’s pretty easy to get Wi-Fi
I suggest creating an 8 gig image on a 16 gig SD card.
After the initial software is on and you can bring up a
graphical desktop, follow the intro screen and click on
Raspberry Pi info — it will enable you to expand the image
to 16 gig. It also will allow you to configure your Wi-Fi. I
suggest you still use the Ethernet connection, but at this
point you can open a terminal, type sudo graphical disable,
and then use SSH over Wi-Fi to complete the installation.
Once Ubuntu is working, continue loading ROS onto
the PI. You may have to maintain your Ubuntu distributions;
the following commands are useful:
/opt/ros/kinetic/ setup.bash to ~/catkin_ws/devel/
setup.bash. It also helps to add the following line if the Pi is
hosting the robot:
sudo apt-get update
mkdir ~p ~/catkin_ws/src
sudo apt-get upgrade (must run both in sequence)
Sometimes to clear dpkg errors:
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where “$HOSTNAME” is the name you have in the
sudo dpkg –configure -a
Your /etc/hosts file should look like this:
127.0.1.1 “your hostname”
sudo sh -c ‘echo “deb http://packages.ros.org/
ros/ubuntu $(lsb_release -sc) main””>
sudo apt-key adv —keyserver hkp://ha.pool.sks-
keyservers.net:80 —recv-key 0xB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
(if full is not available, just get ros-kinetic-desktop)
sudo rosdep init
echo “source /opt/ros/kinetic/setup.bash””>>
sudo apt-get install python-rosinstall
ROS Catkin Workspace installation:
Next, edit .bashrc to change the source
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