raspiext

1 System

The system is based on Raspbian Stretch and can be downloaded from the following link gctronic-stretch-ros-kinetic-opencv3.4.1.img.tar.gz.

user/pw: pi/raspberry
The system starts in console mode, to switch to desktop (LXDE) mode issue the command startx.

When booting the first time, the first thing to do is expanding the file system in order to use all the available space on the micro sd:
1. sudo raspi-config
2. Select Advanced Options and then Expand Filesystem
3. reboot

1.1 Installed software

• ROS Kinetic
• OpenCV 3.4.1
• zram
• SSH

2 ROS

The ROS workspace is located in ~/rosbots_catkin_ws/

Before starting the e-puck2 ROS node on the raspberry, issue the following commands:

• export ROS_IP=raspberry-ip
• export ROS_MASTER_URI=http://pc-ip:11311

To start the e-puck2 ROS node issue the command:
roslaunch epuck_driver_cpp epuck_controller.launch epuck_id:='3000'
This launch file will start the e-puck2 node and the camera node.

On the PC side issue the following commands in one terminal:

• export ROS_IP=pc-ip
• export ROS_MASTER_URI=http://pc-ip:11311
• roscore

And then start rviz in another terminal:

• rviz rviz
• open the configuration file named single_epuck_driver_rviz.rviz you can find in epuck_driver_cpp/config/ directory

The e-puck2 robot must be programmed with the following firmware e-puck2_main-processor_gumstix.elf and the selector must be placed in position 10.

The last version of the e-puck2 ROS node can be downloaded from the git: git clone -b e-puck2 https://github.com/gctronic/epuck_driver_cpp.git