|Note: This tutorial assumes that you have completed the previous tutorials: ROV Prerequisites.|
|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
Flashing an SD Card with UbuntuDescription: Instructions to install the operating system onto the ROV's computer.
Tutorial Level: INTERMEDIATE
Next Tutorial: Wifi Network Setup
We are using a RaspberryPi 2 as our embedded ROV computer. We recommend installing Ubuntu 14.04 on the RaspberryPi over Rasbian OS because of the ease of installing ROS packages. On Ubuntu, packages can be installed as binaries from apt, but on Rasbian, most packages must be installed from source.
Follow these instructions to flash Ubuntu onto an SD card for the RaspberryPi.
# get the image cd ~/Downloads wget http://www.finnie.org/software/raspberrypi/2015-04-06-ubuntu-trusty.zip sudo apt-get install unzip unzip 2015-04-06-ubuntu-trusty.zip # prepare the install destination df -h # determine the file path of the SD card, /dev/sdb in this case eject /dev/sdb # install the image sudo bmaptool copy --bmap ~/Downloads/2015-04-06-ubuntu-trusty.bmap ~/Downloads/2015-04-06-ubuntu-trusty.img /dev/sdb
Once the install has completed, use a keyboard and monitor to complete the partition resizing and to set up networking. The username and password for the standard Ubuntu image is ubuntu:ubuntu. After the SSH server has been installed, you can work remotely.
There are no Raspbian-specific utilities included, specifically no automatic root resizer. However, it's not hard to do manually. Once booted, you'll need to resize the primary partition and create a swapfile:
sudo fdisk /dev/mmcblk0 # Delete the second partition (d, 2), # then re-create it using the defaults (n, p, 2, enter, enter), # then write and exit (w) # then restart. sudo shutdown -r now sudo resize2fs /dev/mmcblk0p2
You can use dh -f to verify the partition has been resized.
If you get stuck, this [[http://elinux.org/RPi_Resize_Flash_Partitions#Manually_resizing_the_SD_card_on_Linux https://www.raspberrypi.org/forums/viewtopic.php?f=91&t=24993|elinux page]] is also a good resource for flashing SD cards.
After installing Ubuntu on the Pi, perform these additional commands:
sudo hostname bluerov sudo sh -c 'echo "bluerov" > /etc/hostname' sudo apt-get update sudo apt-get install dphys-swapfile libraspberrypi-bin libraspberrypi-dev openssh-server wpasupplicant git build-essential avahi-daemon screen linux-firmware -y sudo apt-get upgrade -y # some libraries require the libraspberrypi-bin and libraspberrypi-dev files at /opt/vc sudo ln -s /usr /opt/vc