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INSTALL "ROS2 FOR GOPIGO3" FROM IMAGE

Updated: 11-04-2022 (Instructions and image link)

"ROS2 Humble Hawksbill on Ubuntu 22.04 LTS Server (64-bit) for GoPiGo3 Robots"
is available as a 2.5GB image at:

https://drive.google.com/file/d/1uO9DKB0-pmleClEeG9k7rv0IqWgRzz0Z/view?usp=sharing

Install From Image

1) Download the custom image to your computer

2) Flash SD card with Raspberry Pi Imager v1.73 or higher:

(See https://www.raspberrypi.com/software/ for latest Raspberry Pi Imager)

Select CHOOSE OS

  • (scroll to bottom) Use custom
    • navigate to the saved location of the ros2hhv4.img.gz image
    • click Open

Select CHOOSE STORAGE (DANGER! - CHOOSE WISELY)

  • Select your __GB SD Card (Minimum 8GB)

Select SETTINGS Gear in lower right

  • Set hostname: ROS2HH
  • Enable SSH:
    • Use password authentication
  • Set username and password:
    • ubuntu
    • robots1234 (use this for first boot)
  • Configure wireless LAN for your WiFi
    • SSID: "Your_WiFi_SSID"
    • Password: "Your_WiFi_password"
    • Wireless LAN country: US
  • Set locale settings:
    • Time zone: America/New_York
    • Keyboard layout: us

Click SAVE
Click WRITE
- PopUp: Enter the user password of your laptop/desktop (you login as)

When complete and "safe to remove", pull the ROS2HH microSD card out

=== Mount the card to allow headless configuration

  • Pull card out, reinsert for next step
NOTE:  On some computers (e.g. Linux MATE on my 9 yr old laptop)  
       Imager may result in an error message:  
       "Could not mount FAT32 partition for writing"  

       If you see this, the network-config   
       was not rewritten, fix this in the next step.

=== Verify WiFi Headless config and add ethernet:
Re-Insert the uSD card to your computer:

  • On Mac:

    • Browse system-boot partition
    • Show in enclosing folder
    • Open Terminal at folder

  • On Linux:

    • In terminal: cd /media/<user>/system-boot

$ nano network-config

version 2
ethernets:
   eth0:
     dhcp4: true
     dhcp6: false
     optional: true
wifis:  
  renderer: networkd
  wlan0:  
    dhcp4: true 
    dhcp6: false
    optional: true             
    access-points:  
      "your_SSID":  
        password: "your_netpswd"  (This may be a long encrypted thing if written correctly by Imager)
  • exit ctrl-x y

NOTE: this info will be read by cloud-init to generate /etc/netplan/50-cloud-init.yaml on the first boot

unmount microSD card

3) First Boot

  • Connect powered speaker or headphones
  • Turn Battery Switch to On
  • Press the GoPiGo3 power (on) button to start the first boot
  • Wait till the GoPiGo3 Green LED stops flashing
  • Listen for "WiFi IP x.x.x.x ... Repeating, WiFi IP x.x.x.x"
    now ...
  • Open a command shell on your desktop/laptop
  • Remove any existing ssh key for your GoPiGo3's IP on your desktop/laptop
    • ssh-keygen -R x.x.x.x
  • SSH into your ROS2 GoPiGo3
    • ssh ubuntu@x.x.x.x
      • Answer yes to new ssh key question
      • Enter robots1234 for the password

4) === Change passwords

  • $ su pi
    Password: robots1234
    passwd
    Changing password for pi.
    Current password: robots1234
    New password: _______
    Retype new password: _______
  • $ exit
  • $ whoami
    ubuntu <-- make sure it says ubuntu
  • $ passwd
    Changing password for ubuntu. Current Passwd: robots1234
    New password: __________
    Retype new password: __________

5) === TEST GoPiGo COMMUNICATION

(Test Raspberry Pi communication with GoPiGo3 hardware control board)

  • Type ./test_c and press Tab key,
    $ ./test_communication.sh
*** ROS2 GOPIGO3 COMMUNICATION TEST - Read_info.py  
Manufacturer    :  Dexter Industries  
Board           :  GoPiGo3  
Serial Number   :  xxx  
Hardware version:  3.x.x  
Firmware version:  1.0.0  
Battery voltage :  10.065  
5v voltage      :  4.985

6) === TEST GoPiGo3 MOTORS

  • Type ./test_m and press Tab key, $ ./test_motors.sh
*** TEST GOPIGO3 MOTORS  
GOPIGO3 should:  
- Spin right about 90 degrees  
- Pause for a few seconds  
- Spin left about 180 degrees  
- Spin right, back approximately to starting heading  

*** NOT A PROBLEM IF DID NOT TURN TO EXACT 90 and -90 HEADINGS

7) === APPLY UPDATES

Please apply the updates described on this page: Changes Since V4