Project driftNode
Setting Up a Node
Instructions for the Software Setup
- Be sure to enable rpi camera and i2c in rpi options menu when prompted!
- Github Instructions
- wget http://www.davidegrayson.com/minimu9-ahrs/debian/minimu9-ahrs_VERSION_armhf.deb
- dpkg -i minimu9-ahrs_VERSION_armhf.deb
- add i2c modules to /etc/modules as mentioned in above wiki
- needed for imu, gps, and wifi nodes
- image_common & image_transport_plugins ros package
- install libyaml-cpp0.3 & libyaml-cpp-dev from aptitude
- pluginlib & class_loader ros package
- install libpoco-dev from aptitude
- install libopencv-dev from aptitude
- vision_opencv, dynamic reconfigure, and geometry ros packages
- libeigen3-dev from aptitude
- orocos_kdl (system) see: orocos_kdl
- angles ros package
- tf2_ros (part of geometry_experimental) ros package
- actionlib ros package
- install libtheora-dev from aptitude
- replace .profile in ~/ with the .profile from the driftNode repo
- replace inittab in /etc with the inittab from the driftNode repo
- replace rc.local in /etc with the rc.local from the driftNode repo
- place driftNodeStartupROS.sh and gpsdStart.sh in /etc/init.d
be sure to make both executable - place GPIOLEDoff.py, GPIOLEDon.py, and GPSreader.py scripts into ~/deps
will need to make ~/deps directory