Project driftNode

Setting Up a Node

Instructions for the Software Setup


    Install raspbian
    • Be sure to enable rpi camera and i2c in rpi options menu when prompted!
    Install ROS Indigo Install minimu9-ahrs
    • 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
    Install common_msgs ROS package
    • needed for imu, gps, and wifi nodes
    Raspicam Node
    • 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
    Smaller steps
    • 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