Implementation of Autonomous system with ROS on a Minicar provided of a Raspberry Pi 3.
- Ubuntu (or similar) 18.04
- ROS Melodic
- pigpio for Raspberry Pi 3
- Eigen3 (included in ROS)
- Casadi
Install IPOPT to solve non-linear problems
sudo apt-get install coinor-libipopt-dev
Install casadi by compiling from source
sudo apt-get install gcc g++ gfortran git cmake liblapack-dev pkg-config --install-recommends
sudo apt-get install swig ipython python-dev python-numpy python-scipy python-matplotlib
git clone https://github.com/casadi/casadi.git -b main casadi
cd casadi
mkdir build
cd build
cmake -DWITH_PYTHON=ON -DWITH_IPOPT=true ..
To compile Casadi, it is required cmake version > 3.15. To update your cmake version to the latest one, follow this guide.
Now build from source and install
make
sudo make install
Full installation guide at https://github.com/casadi/casadi/wiki/InstallationLinux
Download cmake files from use_ext_libraries directory
Open a terminal
cd /opt/ros/melodic/share/cmake_modules/cmake/Modules/
sudo cp ~/Downloads/FindEigen.cmake .
sudo cp ~/Downloads/FindCASADI.cmake .
It is necessary to run the system as the root user. First, use
sudo -s
to set the command window as root user. Then run,
roslaunch package_name minicar.launch
to run each module and make it follow a path defined in control.cpp.
Missing bcm2835.h
Install the missing library with the following commands
cd ~
wget http://www.airspayce.com/mikem/bcm2835/bcm2835-1.58.tar.gz
tar xvfz bcm2835-1.58.tar.gz;
cd bcm2835-1.58;
./configure;
make;
sudo make install
Missing i2c/*.h
If you have any library of i2c missing, it means that you have to check if you have installed i2c-tools and if i2c interface is enabled.
First, install these packages
sudo apt install -y i2c-tools python3-smbus
sudo apt install libi2c-dev
Then, run the command
sudo raspi-config
Go to 5 Interfacing options, select I2C and choose Enable
Finally, reboot your system to apply changes.
Missing MPU6050.h
To correct this error, go to the include folder and run the commands
make all
sudo make install
Undefined reference to ...
Try to recompile the package with the additional
catkin_make --force-cmake
WiFi module missing
If the WiFi module is not detected, first check with
dmesg | grep mmc1
It can happen to have missing files. If the command returns a missing firmware like the brcm/brcmfmac43430-sdio.txt you need to copy the file from here and create a new file in brcm folder:
sudo nano /lib/firmware/brcm/brcmfmac43430-sdio.txt
and paste the content from the previous link.
Raspi-Config does something weird
If the raspi-config works but the selection of the menu does not work properly, update and/or reinstall raspi-config. The compatibility between raspi-config and Ubuntu is not assured, but this utility tool could be useful for a fast setting of your Raspberry Pi board.
To update/install raspi-config, follow the instructions at this page