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Raspberry Pi and ROS (Robotic Operating System)

Picture of Raspberry Pi and ROS  (Robotic Operating System)
 In this Tutorial we are going to go over setting up a Raspberry Pi with Linux and ROS. As well as getting familiar with some of the basics by running some simple tutorial programs from the "ROS WIKI" . If you are unfamiliar with ROS you can check out the WIKI or one of my previous tutorials "Getting Started with ROS" . Just to give you a Idea of the capabilities of ROS and all the cool things stemming from this Open source project take a look at the video below.



Now just so that you are not confused about the potentials of the Raspberry Pi as a robotic processor/controller, it has great potential for small computation and can run Linux and all the great features that come along with it. But this is a Arm processor and not a typical PC cpu so it is limited by its architecture and power capabilities. Some portions of Linux code have not been completely ported to ARM processors so you will be limited at the moment to what programs you can install. But for most of ROS and the programs I am going to cover in this tutorial, Pi is functional and can be useful depending on the demands of your project. But if you are planning to do any 3d/2d mapping/navigation with a Kinect/laser scanner at the moment I am not sure its possible utilizing just the Raspberry Pi but with time who knows. In the future I will also include another tutorial that connects the Raspberry Pi to a small robot to act as controller. So lets begin.. 
 
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Step 1: Parts list

Picture of Parts list
We are going to need the following items :

Raspberry Pi

http://www.zagrosrobotics.com/shop/item.aspx?itemid=895

Micro USB power supply 

USB keyboard and mouse

HDMI cable

Monitor with HDMI input

SD Card with at least 8GB    (Check this list of compatible cards )

And a computer with either Windows or Linux installed

Step 2: Writing the image to the SD card

Picture of Writing the image to the SD card
Now there are a couple of different ways to get Linux and ROS working on Raspberry PI. One way is to write the Linux image to the SD card then download and install ROS form within the Raspberry Pi. This can become difficult and time consuming for the beginner, but it is useful when creating a custom ROS installation. These steps can be found here on the ROS WIKI

 Rosberry Pi 

However we are going to be using a Linux image that has ROS  pre-installed. Thanks to Jeremy Nicola for providing the image in the form of a zip file which can be found here

 Rosberry PI Image

And in order to get our Linux image on to the SD Card we are going to use Image Writer for Windows, which can be downloaded here 

https://launchpad.net/win32-image-writer

FOR WINDOWS :

Insert the SD card into your SD card reader, then locate and remember what drive letter the SD card was assigned. 

Format the card and make sure there is only one partition (FAT32 is a good choice), otherwise
Win32DiskImager can corrupt your SD card!

Extract the Raspbian-ROS-full.img.7z file somewhere.

Install and run Win32DiskImager utility as Administrator. 

Select the Raspbian-ROS-full.img image file 

Select the drive letter of the SD card in the device box. Make sure you select the correct drive, if you select the wrong drive you can corrupt your data on that assigned drive.

Click Write and wait for the write to complete.

Exit the program and eject the SD card.

If all goes well you should have a bootable image on your SD card.

FOR LINUX :

Use DD in the terminal to write the image to the SD card

extract  Raspbian-ROS-full.img.7z 

copy and paste this after replacing the correct paths to your SD card and Raspberry Pi image

sudo dd if=/path/to/Download/img/file of=/path/to/SDcard

example 

sudo dd if=/home/username/Downloads/Raspbian-ROS-full.img of=/dev/sdc
 
Wait for the command to return. This may take some time so be patient .If all goes well you should have a bootable image on your SD card.

Step 3: Starting our Rosberry for the first time

Picture of Starting our Rosberry for the first time
Insert the SD card into the Raspberry Pi's card slot. Connect the Raspberry PI to the HDMI monitor, keyboard, mouse and power supply. Before you can get into the desktop screen you will have to enter your username and password  

Username: pi

Password: raspberry

And once Linux has booted to the desktop open a terminal screen [ Ctrl + Alt + t ] and enter the following :

roscore 

The roscore is now running and we are now ready to start the tutorials.
 
If you want some background on ROS commands and Syntax look to this Cheat Sheet for help.
or the ROS Start Guide .

Step 4: ROS tutorials

Picture of ROS tutorials
We are going to go over how to publish a message to the roscore then subscribe to that message. This concept is the basics behind the ROS system which gives us a dynamic way to publish/receive data to control our robot projects and get data from them. 

With roscore running in one terminal open another terminal and copy and paste

rosrun  roscpp_tutorials talker

This should start publishing something like this

[ INFO] [1358365440.794845809]: hello world 0
[ INFO] [1358365440.895024702]: hello world 1
[ INFO] [1358365440.995006238]: hello world 2
[ INFO] [1358365441.095000473]: hello world 3
[ INFO] [1358365441.195000082]: hello world 4

Then open another terminal and copy and paste 

rosrun  roscpp_tutorials listener

This should output the same data that the first terminal is displaying

Now lets get an idea of what is happening inside the roscore by using rxgraph to display the nodes and messages that are running in our system. Open a new terminal then copy and paste 

rxgraph

Now you should see the running nodes and their respective messages with arrows to point out there output orientation, if you select all topics in the window you can see all the topics that are published and subscribed within the roscore. 

For more ROS tutorials check out the ROS Tutorials page. 

Step 5: Conclusion

Hopefully with this tutorial you were able to install Linux and ROS on your Raspbery PI and get a basic idea of how ROS works. Here is a list of links that might help you get your robotic project running with ROS and Raspberry PI.

ROS and Arduino

Youtube Tutorials 

Rosberry Pi Wiki 

What is user and password?

Drdnd11 months ago

I tried the install of Raspbian+ROS from Raspbian-ROS-full.img.7z file. Unfortunately the micro-SD card will not boot the Pi B+ with that. Card is OK as reimaging with Raspbian alone is OK for Pi boot. Any solutions or pointers?

TonderaiR Drdnd3 months ago

Hello

I am having the same problem have you found a solution for the raspberry pi b++ I can not seem to get the image to boot.

Daevis3605 months ago

hello friend, I install image but it runs in my raspberry pi, what happens? thanks for your help.

abelov Daevis3605 months ago

Does it run or not? What is your problem? I installed the image on two RPis. Together with my Ubunutu-ROS that I had earlier I have 3 ROS-nodes at all and everyone works fine!

abelov5 months ago

Hi! There were some problems when downloading the image. Chrome did not manage it. Both attempts failed near 30% of progress. Then I tried it with Opera - only 60% were done. Finally the Firefox got it very quickly from the first attempt. So try different browsers.

The image worked fine. I'm using Transcend 8Gb card.

For people who are wondering which versions of RPi and ROS are there:

RPi: 3.1.9+

ROS: Fuerte

Installed packages:

actionlib, actionlib_msgs,
cpp_common, diagnostic_msgs, geometry_msgs, message_filters, mk, nav_msgs, perf_roscpp,
rosbag, rosbash, rosboost_cfg, rosbuild, rosclean, rosconsole, roscpp, roscpp_serialization,
roscpp_traits, roscpp_tutorials, roscreate, rosgraph, rosgraph_msgs, roslang, roslaunch,
roslib, roslisp, rosmake, rosmaster, rosmsg, rosnode, rosout, rospack, rosparam,
rospy, rospy_tutorials, rosservice, rostest, rostime, rostopic, rosunit, roswtf,
rxbag, rxgraph, rxtools, sensor_msgs, std_msgs, std_srvs, stereo_msgs, test_crosspackage,
test_ros, test_rosbag, test_roscpp, test_roscpp_serialization, test_roscpp_serialization_perf,
test_roslib_comm, test_rospy, test_rosservice, test_rostime, topic_tools, trajectory_msgs,
turtlesim, visualization_msgs, wxPython_swig_interface, xdot, xmlrpcpp

Many thanks to you guys for the instruction!

jimmykarate6 months ago

keyboard not write the password , what can i do in this case ???????

It might actually be writing the password. It doesn't show the password characters as they are typed. But if you type the right password and then hit enter it should work.

lakshay garg8 months ago

The raspberry pi Image link is not working

Jahcro11 months ago

I'd been trying to connect a Kinect with the raspi through ROS but I'm not succeeding yet, I use the ROS that you posted here, do you know what libraries do I need and where can I find them?

Thanks a lot

regnartim Jahcro11 months ago
Vanille7071 year ago

Hello. I'm trying to install ROS groovy from source into a raspberry pi.

Could you tell me what kind of ROS is inside the image?

I'm look for desktop full install.

Sorry for my bad english.

I can not get your image to boot, although I was able to get raspbian installed...but had problems getting ros setup on it :(

I'm using an 8 gb sd card (and as I've said, I have successfully put raspbian on it) on a model b raspberry pi. I wiped the card so it only had one partition, used win-32-imagewriter to write the image to the disk. There are 12 files on the card after writing on the 55.9 MB portion.

Could the fact that I have a raspberry pi model b be messing things up?
ZRob314 (author)  chuckwagonup1 year ago
If you have loaded the Rosberry PI Image from the link in the tutorial it should have installed Raspbian with ROS pre-installed. If you were unsuccessful in getting the image to boot I would try a different SD card that is listed in this tutorial as compatible. The Rosberry Pi Image should work on both model versions of Raspberry Pi. -Atom
Hello
Excuse me , I just want to know if dual core video core iv multi media co processor in Rasberry pi can work with ROS or not ??
mazoo2 years ago
well done but have to agree with tunaman7787
all the best
tunaman77872 years ago
Why? It will be about as powerful as a phone-why not get an Android phone or tablet? A tablet can do most things a Pi can, and trying to rig a touch screen with Rasbian Linux would be very difficult. The Pi is a DIY thing-it doesn't come nicely packaged. Also, a battery for the Pi poses some issues. These issues aside, by the time you were to pay for the Pi, the case, the battery, the screen, and the touch screen, you would have a thick, bulky, package that would cost more than a $200 Nexus 7. logo
ZRob314 (author)  tunaman77872 years ago
Well this is just a simple tutorial that is aimed at getting people familiar with Raspberry Pi and Linux for Arm controllers. I was looking for a inexpensive alternative to a pc when using ROS as a brain/master for a autonomous robot base. So ultimately this setup would not need a touch screen as it would be on the robot and controlled via wifi/telenet or running autonomously. I understand there are many options for robot controllers, and many people have various opinions based on there own goals. - Atom
sentryGun532 years ago
The link for "Rosberry PI Image" seems to be broken. Is the file still available somewhere? I would love to get ROS setup on my Pi.
Thanks,
-Bob
ZRob314 (author)  sentryGun532 years ago
The link to the "Rosberry Pi Image" has been fixed. Enjoi -Atom
Thanks!