Create sbc_software_setup.md

Author: fjp

docs/sbc_software_setup.md

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+## Single Board Computer Software Preparation
+
+This section guides you through preparing the software environment on your Single Board Computer (SBC), such as a Raspberry Pi, to operate your ROS-based mobile robot. Here, we'll cover essential steps like:
+
+- [Hardware Interface Configuration](#hardware-interface): Setting up the necessary interface between your SBC and the robot's microcontroller.
+- [Source Dependency Management](#source-dependencies): Downloading and installing the required software source code using tools like vcstool.
+- [Binary Dependency Installation](#binary-dependencies): Installing additional software packages necessary for compiling the robot's ROS packages.
+- [Building the ROS Workspace](#build-ros-workspace): Compiling all the software components on the SBC for your robot to function properly.
+
+Following these steps will prepare your SBC's software environment to interact with the robot and run ROS effectively.
+
+!!! note
+    This section assumes you have already installed the appropriate operating system (e.g., Ubuntu Mate 20.04) on your SBC.
+    See the previous pages ([Raspberry Pi setup](./rpi-setup.md) or [Jetson Nano setup](./jetson-nano-setup.md)) on how to do this.
+
+### Hardware Interface
+
+Another interface setup that is needed to work with the microcontroller, is to add your
+user to the `dialout` group on both machines, the SBC and the development PC. This can
+be done with the following command, followed by a system reboot:
+
+```console
+sudo adduser <username> dialout
+```
+
+### Source Dependencies
+
+When you clone the diffbot repository in a new catkin workspace, you will find two
+YAML files, `diffbot_dev.repos` and `remo_robot.repos`, that list required source
+dependencies together with their version control type, the repository address, and a
+relative path where these dependencies are cloned. `remo_robot.repos` is here to clone
+source dependencies on the real robot.
+
+To make use of such YAML files and clone the listed dependencies, we use the commands
+from [`vcstool`](http://wiki.ros.org/vcstool), which replaces
+[`wstool`](http://wiki.ros.org/wstool):
+
+1. Install vcstool using the command:
+
+    ```console
+    sudo apt install python3-vcstool
+    ```
+
+2. In a new catkin workspace, clone the diffbot repository inside the src folder:
+
+    ```console
+    ros_ws/src$ git clone https://github.com/ros-mobile-robots/diffbot.git
+    ```
+
+    for a specific tag (e.g. 1.0.0) you can use the following command:
+
+    ```console
+    ros_ws/src$ git clone --depth 1 --branch 1.0.0 https://github.com/ros-mobile-robots/diffbot.git
+    ```
+
+3. Make sure to execute the `vcs import` command from the root of the catkin
+workspace and pipe in the `diffbot_dev.repos` or `remo_robot.repos`
+YAML file, depending on where you execute the command, either the development
+PC or the SBC of Remo to clone the listed dependencies:
+
+    ```console
+    vcs import < src/diffbot/diffbot_dev.repos
+    ```
+
+4. Execute the next command on the SBC of the robot:
+    
+    ```console
+    vcs import < src/diffbot/remo_robot.repos
+    ```
+
+### Binary Dependencies
+
+After obtaining the source dependencies with `vcstool`, we can compile the workspace.
+To successfully compile the packages of the repository, binary dependencies must be
+installed. As the required dependencies are specified in each ROS package's `package.xml`, 
+the rosdep command can install the required ROS packages from the Ubuntu repositories:
+
+```console
+rosdep install --from-paths src --ignore-src -r -y
+```
+
+### Build ROS Workspace
+
+Finally, the workspaces on the development machine and the SBC of the robot need to
+be built, either using `catkin_make` or catkin tools. `catkin_make` comes pre-installed with ROS.
+
+=== "catkin tools"
+
+    ```console
+    catkin build
+    ```
+
+=== "`catkin_make`"
+    
+    ```console
+    catkin_make
+    ```