Steps done to configure Steam Deck as a ROS robot controller.
At any time, if you are in the gaming mode, switching to desktop mode is done via the Power off menu.
To summon the on-screen keyboard, press STEAM+X. To hide it, press B.
Keep the Deck connected to a power source to prevent it from falling asleep.
- Set the amount of reserved GPU memory to 4 GB (in Desktop mode, the auto mode somehow doesn't work and VRAM is capped at 1 GB normally).
- Still in gaming mode, go to Settings->Enable developer mode .
- Still in gaming mode, go to Developer->Enable Wifi power management and turn it off (it lowers the performance and make SSH sessions very sluggish). This will want a reboot. Do it.
- Switch to Desktop mode (see the notice above).
- Tap the Steam icon in taskbar, select Settings -> Controller -> Desktop configuration. This menu allows you to configure the gamepad behavior, so that the
joy_nodecan read it. Press X to browse available configs. Select Templates->Gamepad->Apply configuration. Do any other adjustments you like, but do not touch the JOYSTICK MOVE areas. You can't return these values back! What I do is configure L4 as Ctrl+R, L5 as Ctrl+C, R4 as up arrow and R5 as down arrow. - Open terminal (Konsole) from the KDE app menu->System.
- Set the user's password: type
passwdand type your password twice. Now you can usesudo. - Make the filesystem read-write:
sudo steamos-readonly disable. - Enable SSH server:
sudo systemctl enable sshd.service && sudo systemctl start sshd.service. - Now you can finally connect to the deck via SSH from your laptop.
- Clone this repo into home directory of the deck user:
git clone https://github.com/ctu-vras/steam-deck-ros-controller. - Symlink or copy everything from
etcfolder to the respective locations on the Steam Deck. - Symlink or copy everything from
home/deckfolder to your home directory.
echo "keyserver hkps://keyserver.ubuntu.com" | sudo tee -a /etc/pacman.d/gnupg/gpg.conf
wget https://archlinux.org/packages/core/any/archlinux-keyring/download -O ~/arch-keyring.tar.zst
sudo pacman-key --init
sudo pacman-key --populate
sudo pacman-key --refresh-keys
sudo pacman -U ~/arch-keyring.tar.zst
# SteamOS changed the pacman repos in November 2022, so this just updates the specs of the repo files
# https://www.reddit.com/r/SteamDeck/comments/zrc2ep/comment/j14iysa/
sudo sed -i -e 's/\[jupiter\]/[jupiter-rel]/g' -e 's/\[holo\]/[holo-rel]/g' -e 's/\[core\]/[core-rel]/g' -e 's/\[extra\]/[extra-rel]/g' -e 's/\[community\]/[community-rel]/g' -e 's/\[multilib\]/[multilib-rel]/g' /etc/pacman.conf
# Upgrade the whole system
sudo pacman -Syu
yay -S base-devel
# compatibility library for conda ROS libraries
sudo pacman -S core-rel/libxcrypt-compatwget "https://github.com/conda-forge/miniforge/releases/latest/download/Mambaforge-$(uname)-$(uname -m).sh"
bash Mambaforge-$(uname)-$(uname -m).sh
# follow the install steps; when finished, open a new bash console
conda install mamba -c conda-forge
mamba create -n ros_env python=3.9
conda activate ros_env
conda config --env --add channels conda-forge
conda config --env --add channels robostack-staging
mamba install ros-noetic-desktop ros-noetic-image-transport-plugins
mamba install compilers cmake pkg-config make ninja catkin_tools
mamba install rosdep
rosdep init # note: do not use sudo!
rosdep update
pip install -U vcstool# Install extra packages
mamba install mesalib mesa-libgl-devel-cos7-x86_64 festvox-kallpc16k alsa-plugins
mkdir -p workspaces/deck_ws/src
cd workspaces/deck_ws/src
# choose the .repos files you want here
ln -s ~/steam-deck-ros-controller/home/deck/workspaces/deck_ws/src/jsk.repos ./
for f in *.repos; do vcs import < $f; done
conda activate ros_env # if not already in an environment
cd ..
catkin init
catkin config --extend /home/deck/mambaforge/envs/ros_env
catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin config --skiplist husky_control husky_desktop husky_gazebo husky_navigation husky_simulator spot_driver sound_classification imagesift jsk_tilt_laser multi_map_server audio_video_recorder jsk_rosbag_tools jsk_recognition jsk_perception jsk_people_tracking_filter jsk_pcl_ros_utils jsk_pcl_ros jsk_recognition_utils jsk_recognition people_tracking_filter people leg_detector people_velocity_tracker people_velocity_tracker face_detector
rosdep install --from-paths src --ignore-src -r
catkin build
# ugly fix to allow sound_play node to work
ln -s /usr/lib/alsa-lib/libasound_module_pcm_pipewire.so /home/deck/mambaforge/envs/ros_env/lib/alsa-lib/libasound_module_pcm_pipewire.so
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