Install Ubuntu 22.04 Server for the companion computer

Flash the Image from Raspberry Pi Imager. Choose Ubuntu 22.04 server like this image example:

Install steps

sudo apt update
sudo apt-get install openssh-server
sudo systemctl enable ssh

Remember to turn off the sleep mode and turn on the automatic login. Now you can use ssh from your PC

sudo apt-get install git python3-pip python3-schedule raspi-config wget curl -y
pip install RPi.GPIO flask_cors transforms3d smbus2 mpu9250-jmdev

Then open the tool using

sudo raspi-config

Once the tool screen is opened, go to Interface Options and then enable "Legacy camera option".

Enable Camera

sudo usermod -aG video USER-NAME
sudo nano /boot/firmware/config.txt
start_x = 1 # Add this line at the bottom

# From command line, you could use vcgencmd utility as shown below:
vcgencmd get_camera
supported=1 detected=1, libcamera interfaces=0

# When no camera detected the output would be:
vcgencmd get_camera
supported=0 detected=0
# If IP is blocked
sudo iptables -A INPUT -p tcp --dport 8080 -j ACCEPT

mkdir -p ~/colcon_ws/src
cd ~/colcon_ws
git clone https://github.com/TPODAvia/Autonomous-Tractor.git src

cd ~/colcon_ws/src

chmod +x ROS2-installation/ROS2_server.sh
sudo ./ROS2-installation/ROS2_server.sh

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
echo "source ~/colcon_ws/install/setup.bash" >> ~/.bashrc

Encrease swap file:

See this instructions for the details https://www.digitalocean.com/community/tutorials/how-to-add-swap-space-on-ubuntu-22-04

Add watchdog

Activate the hardware watchdog on your Raspberry Pi. With the command sudo nano /boot/firmware/config.txt, add the following line to enable the watchdog:

dtparam=watchdog=on

Reboot your Raspberry Pi. After the reboot, you can check if the watchdog is enabled by running the command ls -al /dev/watchdog*. You should see output similar to this:

crw------- 1 root root  10, 130 May 19 07:09 /dev/watchdog
crw------- 1 root root 253,   0 May 19 07:09 /dev/watchdog0

This indicates that the watchdog is enabled.

Install the watchdog software package with the command sudo apt-get install watchdog.

Configure the watchdog package. Edit the configuration file with the command sudo nano /etc/watchdog.conf and uncomment or add the following lines:

max-load-1 = 24
min-memory = 1
watchdog-device = /dev/watchdog
watchdog-timeout=15

Start the watchdog service with the command sudo systemctl start watchdog and enable it to start at boot with the command sudo systemctl enable watchdog.

Verify that the watchdog service is running with the command sudo systemctl status watchdog. If it's running correctly, you should see output indicating that the service is active.

Install SLAM and Navigation

sudo apt-get update
sudo apt-get install ros-humble-v4l2-camera ros-humble-image-tools ros-humble-imu-tools ros-humble-rtabmap-ros ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-rviz2 ros-humble-tf-transformations -y

Install DepthAI for depth camera

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
sudo udevadm control --reload-rules && sudo udevadm trigger

sudo apt install ros-humble-depthai-ros

Install ORB-SLAM3 (optional)

sudo apt-get update
sudo apt-get install libboost-all-dev libboost-dev libssl-dev libpython2.7-dev libeigen3-dev libunwind-dev python3-rosdep2 ros-humble-vision-opencv ros-humble-message-filters ros-humble-imu-tools -y

cd
git clone https://github.com/TPODAvia/ORB-SLAM3-STEREO-FIXED.git ORB_SLAM3
cd ORB_SLAM3
chmod +x build.sh
./build.sh
https://github.com/astronaut71/orb_slam3_ros2

# wget https://github.com/Qengineering/Install-OpenCV-Raspberry-Pi-32-bits/raw/main/OpenCV-4-5-5.sh
cd ~/colcon_ws/src
sudo chmod 755 /ROS2-installation/OpenCV-4-5-5.sh
./ROS2-installation/OpenCV-4-5-5.sh

cd ~/colcon_ws/src

git clone https://github.com/TPODAvia/orb_slam3_ros2.git orbslam3_ros2
cd /home/ubuntu/colcon_ws/src/orbslam3_ros2/vocabulary/
tar -xf ORBvoc.txt.tar.gz
cd ~/colcon_ws

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select orbslam3

use colcon_cd to find the package

echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
echo "export _colcon_cd_root=/opt/ros/humble/" >> ~/.bashrc

colcon_cd my_package

Install remote desktop tools for debuging (Optional)

https://pimylifeup.com/raspberry-pi-remote-desktop/

Check I2C and USB port

sudo apt-get install i2c-tools python3-smbus libi2c-dev
sudo adduser ubuntu i2c
i2cdetect -y -r 1
sudo i2cget -y 1 0x68 0x75
sudo chmod 777 /dev/ttyUSB0

Compile ROS2 project

cd ~/colcon_ws/src

git clone https://github.com/cra-ros-pkg/robot_localization.git
cd robot_localization
git checkout humble-devel
cd ..

git clone https://github.com/RobotWebTools/web_video_server.git
cd web_video_server
git checkout ros2
cd ..

git clone https://github.com/ros2/teleop_twist_keyboard.git

git clone https://github.com/orascheg/ros2GPSx.git

git clone https://github.com/hiwad-aziz/ros2_mpu9250_driver.git

git clone https://github.com/nobleo/full_coverage_path_planner.git
cd full_coverage_path_planner
git checkout ros2

cd ~/colcon_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
# remember to chmox +x all pythons file

Always On mode

To disable the sleep mode and allow automatic login in Ubuntu using the terminal, follow the steps below:

1. Disable Sleep Mode

To disable the sleep mode in Ubuntu, you can use the systemctl command to mask the sleep, suspend, hibernate, and hybrid-sleep targets. This essentially links these unit files to /dev/null, making it impossible for the system to start them Source 2.

You can execute the following command:

sudo systemctl mask sleep.target suspend.target hibernate.target hybrid-sleep.target

Keep in mind that this command will completely disable sleep mode, meaning your system will stay awake indefinitely until you manually put it to sleep or shut it down.

2. Enable Automatic Login

To enable automatic login, you'll need to edit the custom.conf file in the /etc/gdm3/ directory. Here is how you can do it:

First, open the file using a text editor such as nano.

sudo nano /etc/gdm3/custom.conf

Find the section in the file labeled [daemon]. In this section, uncomment (or add if it's not there) the line AutomaticLoginEnable=true and the line AutomaticLogin=[your username], replacing [your username] with your actual username.

Here is how it should look:

[daemon]
AutomaticLoginEnable=true
AutomaticLogin=john_doe

After making the changes, press Ctrl+X to exit and Y to save the changes. Then, restart your system for the changes to take effect.

Please note that enabling automatic login can pose a security risk as anyone who can access your computer will be able to turn it on and have immediate access to your files and data.

3. Handle Lid Close Action

In some cases, you might want to change the action that Ubuntu takes when the laptop lid is closed. To do this, you can edit the /etc/systemd/logind.conf file Source 9.

Open the file using a text editor:

sudo nano /etc/systemd/logind.conf

Find the line that starts with #HandleLidSwitch=suspend and change it to HandleLidSwitch=ignore. This will make Ubuntu do nothing when the laptop lid is closed.

Here is how it should look:

HandleLidSwitch=ignore

To prevent Ubuntu from going into suspend mode and turning on the lock screen, you can use the following steps:

4. Disable Automatic Lock Screen

To disable the automatic lock screen, you need to change the settings of the GNOME desktop. You can do this using the gsettings command. The following command will disable the lock screen:

gsettings set org.gnome.desktop.session idle-delay 0
gsettings set org.gnome.desktop.screensaver lock-enabled false

This command will prevent the lock screen from appearing due to inactivity Source 2.

5. Disable Lock Screen Upon Suspend

In addition to disabling the automatic lock screen, you may also want to disable the lock screen that appears after your system wakes up from suspend. You can do this with the following gsettings command:

gsettings set org.gnome.desktop.screensaver ubuntu-lock-on-suspend false

This command will prevent the lock screen from appearing after suspend Source 2.

After making the change, save and close the file, then restart the systemd-logind service by running:

sudo reboot

Please keep in mind that these changes should be made carefully as they can significantly alter the behavior of your system. Always make sure to backup any files you edit in case you need to revert the changes. Again, please note that disabling the lock screen and suspend mode can pose a security risk. Anyone with access to your computer will be able to use it without having to enter a password. Please use these commands responsibly.

How to use

ros2 run teleop_twist_keyboard teleop_twist_keyboard

cd ~/colcon_ws
ros2 launch main_pkg 0camera.launch.py
ros2 launch main_pkg 1kalman.launch.py
ros2 launch main_pkg 3web_control.launch.py

ros2 launch mpu9250driver mpu9250driver_launch.py
ros2 launch robot_localization navsat_transform.launch.py
ros2 launch robot_localization ekf.launch.py


### Run ORB SLAM optional

ros2 run image_tools cam2image -t camera -r image:=camera --ros-args --params-file /home/vboxuser/colcon_ws/src/params.yaml

ros2 run orbslam3 mono /home/vboxuser/colcon_ws/src/orbslam3_ros2/vocabulary/ORBvoc.txt /home/vboxuser/colcon_ws/src/orbslam3_ros2/config/monocular/TUM1.yaml

Running rosbag2

To use ros2bag in ROS2 Humble, you can follow these steps:

1. Install ros2bag: First, make sure you have ROS2 installed on your system. Then, you can install ros2bag by running the following command in the terminal:

sudo apt-get install ros-humble-ros2bag && ros-humble-rosbag2-storage-default-plugins

2. Record a topic: To record a specific topic into a bag file, you can use the ros2 bag record command followed by the name of the topic. For example, to record the /chatter topic, you can run the following command:

ros2 bag record /chatter

This will create a SQLite3 database file with the recorded messages.

3. Override QoS policies: If you want to override the Quality of Service (QoS) policies for recording and playback, you can use the YAML schema for profile overrides. The overrides are specified as a dictionary of topic names with key/value pairs for each QoS policy. Here's an example of the YAML schema:

topic_name:
  qos_policy_name: str
  ...
  qos_duration:
    sec: int
    nsec: int

You can specify different QoS policies such as history, depth, reliability, durability, deadline, lifespan, liveliness, liveliness_lease_duration, and avoid_ros_namespace_conventions. Refer to the official documentation for more details on each policy and its values.

4. Split bag files: If you want to split a bag file into multiple files with a specified duration, you can use the ros2 bag slice command. For example, to split an input_bag into sliced bags with a duration of 60 seconds, you can run the following command:

ros2 bag slice input_bag -o sliced_bags -d 60

This will create multiple sliced bag files with the specified duration.

These steps should help you use ros2bag in ROS2 Humble. For more details and advanced usage, you can refer to the official ROS2 documentation and the ros2bag package documentation:

• ROS2 Humble Documentation
• ROS2Bag Documentation
• ROS2Bag Extensions (Additional features and functionalities for ros2bag)

To add a permanent static route in Ubuntu 18.04 without the netplan folder, you can use the following method:

Open the terminal and run the command sudo nano /etc/network/interfaces to edit the network interfaces file. Add the following lines to the file, replacing 192.168.1.1 with the desired gateway IP and eth0 with the appropriate interface name: auto eth0 iface eth0 inet static address <your_ip_address> netmask <your_netmask> gateway 192.168.1.1 up route add default via 192.168.1.1 dev eth0