I have started to update my old projects with Beaglebone Black and ROS Indigo version.
Before ROS installation the best option is to install the Ubuntu 14.04(LTS) arm version. It is recommended because package install will be available for ROS and there’s no need to build the them.
Ubuntu Arm 14.04 Install
I had chosen to install it on an SD card (16GB class 10) since then there will be more than enough space for everything I need. The other option could be to use eMMC on-board flash storage, but that has only 4GB space.
Download the image to your computer. Update: the image no longer available here is another image
2. On Windows unpack the above downloaded file and use the Win32DiskImager to write the image on the SD card.
3. Put the SD card to the Beaglebone Black, and press and hold the switch 2
while you are booting.
4. Login to the Beaglebone Black via ssh, user/pass ubuntu/temppwd .
Ubuntu post install steps
The partition will be only 2Gb you can check if you ssh to the BBB and give the following command:
To have the full card size use the following commnads on the BBB:
cd /opt/scripts/tools git pull sudo ./grow_partition.sh sudo reboot
Changing the kernel version
The bone-ubuntu-14.04.2-console-armhf-2015-07-08-2gb.img image has some issues with the kernel. It only allows 720Mhz for the maximum frequency. It can be seen if the
command has given in the BeagleBone Black terminal. It is easy to fix this, all that needs to be done is to change the kernel version. Once again give this on the BBB:
sudo apt-get update sudo apt-get install linux-image-4.1.3-ti-r7
I have tried this version and it worked for me. See more info in this link.
Optional post step
The Beaglebone Black has only 512 MB ram, any extra memory could come handy. It can be extended by creating swap file on the SD card. On the BBB:
sudo mkdir -p /var/cache/swap/ sudo dd if=/dev/zero of=/var/cache/swap/swapfile bs=1M count=1024 sudo chmod 0600 /var/cache/swap/swapfile sudo mkswap /var/cache/swap/swapfile sudo swapon /var/cache/swap/swapfile
Change the /etc/fstab file to have these settings even after reboot.
/var/cache/swap/swapfile none swap sw 0 0
More info .
ROS Indigo Install
Jade is the latest version of the ROS, but since Indigo has the LTS (Long Term Support) I will stick with this version. SSH to the BBB and give the following command series:
1. Setting the locale
sudo update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGES=POSIX
2. Setup sources.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
3. Setup keys
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
sudo apt-get update sudo apt-get install ros-indigo-ros-base
5. Initialize rosdep
sudo apt-get install python-rosdep sudo rosdep init rosdep update
6. Environment setup
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc source ~/.bashrc
More information about the installation can be found here.
After installation everything is in place. If you are new to the ROS I recommend these tutorials.
Here is a sneak-peek what can be done easily with ROS and BBB: