RPi Set up

Install OpenSSH

Install OpenSSH for remotely controlling RPi using the command in the terminal (Ctrl + Alt + T)

sudo apt update
sudo apt install openssh-server -y
sudo systemctl start ssh
hostname -I

Now you will see your ip address let it be $ip_address Get inter your RPi using shh

##command
ssh -X p3dx@$ip_address
##password
p3dX

Verify the ubantu version

lsb_release -a

Make ROS2 workspace

mkdir ~/Project/p3dx_ws/src && cd ~/Project/p3dx_ws/
colcon build

Download the necssary packages

cd
sudo apt update
sudo apt install ros-$ROS_DISTRO-navigation2 -y
sudo apt install ros-$ROS_DISTRO-nav2-bringup -y
sudo apt install ros-$ROS_DISTRO-robot-localizatio -y
sudo apt install ros-$ROS_DISTRO-slam-toolbox -y
sudo apt install python3 python3-pip -y
sudo apt install python3-pyqt5 -y
sudo apt install pyqt5-dev-tools -y
sudo apt install ros-jazzy-twist-mux -y

Download Docker Engine

curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh
sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker
sudo apt  install docker-compose -y

Clone the repo

cd ~/Project/p3dx_ws/src/
git clone https://github.com/Rahul-Tom/p3dx_description_ros.git
git clone https://github.com/AlexKaravaev/csm.git
git clone https://github.com/AlexKaravaev/ros2_laser_scan_matcher.git

Build the workspace

cd ~/Project/p3dx_ws
colcon build --symlink install

If you are getting error during colcon build replace #include <tf2_geometry_msgs/tf2_geometry_msgs.h> with #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp> in line 47 of header file in include directory of ros2_laser_scan_matcher package.

clone the docker and gui repo

git clone https://github.com/Rahul-Tom/p3dx_gui.git
git clone https://github.com/Rahul-Tom/p3dx_docker.git

building the docker containers

Before building comment or uncomment every docker files' since RPi architecture (arm64 ) is different from nomal PC/Laptop's architecutre.

Docker files are located with name "Dockerfile" in every folder(humble, noetic, bridge, )

If you have ROS2 installation on your system consider commenting ros2 serivce called humble from docker-compose file

cd ~Project/p3dx_docker
docker-compose -f arm64_compose.yaml up --build

Note that for the first time building it will take some time. Go and get your coeffee

If you don't build the ros2 service consider adding the sourcing to the envionment variable

echo "source/opt/jazzy/setup.bash">>~/.bashrc
echo "source~/Project/p3dx_ws/install/setup.bash">>~/.bashrc