Install the latest verison of Raspian:

• Download Raspbian with desktop: https://www.raspberrypi.org/downloads/raspbian/

• Write the downloaded image to the micro-SD card: https://www.raspberrypi.org/documentation/installation/installing-images/

• Insert micro-SD into the RPI, power it up and follow the instructions (need HDMI cable and usb mouse & keyboard)

Enable SSH, the camera and I2C:

• Menu > Preferences > Raspberry Pi Config > Interfaces

• Click "Enabled" for Camera, SSH and I2C

• Restart the RPI

Setup the RPI as a wifi hotspot:

• https://frillip.com/using-your-raspberry-pi-3-as-a-wifi-access-point-with-hostapd

A problem you might run into is that you can't install anything using pip on the RPI. The solution is, strangely, to set the date and time properly:

• $ sudo date -s "Jul 7 18:31" (where you replace "Jul 7 18:31" with your current date and time)

Install Ubuntu Mate:

• http://emanual.robotis.com/docs/en/platform/turtlebot3/rpi3_software_setup/#install-linux-on-turtlebot3-burger-raspberry-pi-3 (Download the file, burn the image onto the micro-SD card using e.g. Etcher, insert micro-SD into RPI, power it up and follow the instructions (need HDMI cable and usb mouse & keyboard)) (Choose a username and password of your liking, you'll use it to SSH into the RPI)

Install ROS:

• $ sudo apt-get update

• $ sudo apt-get upgrade

• $ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh

Setup and test the LiDAR:

• $ sudo apt-get install ros-kinetic-hls-lfcd-lds-driver

• Make sure that your username is in the dialout group in /etc/group (otherwise you won't have permission to open /dev/ttyUSB0):

• • $ sudo nano /etc/group

• • In my case (my username is 'pi'), I hade to change the line "dialout:x:20:" to "dialout:x:20:pi"

• • Restart the computer ($ sudo reboot)

• $ roslaunch hls_lfcd_lds_driver hlds_laser.launch (the LiDAR should now start turning and publish messages to /scan, check this with the command $ rostopic echo /scan)

Install the needed packages for communicating with the OpenCR etc:

• $ sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation

• $ cd ~/catkin_ws/src

• $ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

• $ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

• $ cd ~/catkin_ws

• $ catkin_make

Allow access to the OpenCR USB port without acquiring root permission:

• rosrun turtlebot3_bringup create_udev_rules

Enable SSH:

• $ sudo apt-get install raspi-config rpi-update

• $ sudo raspi-config

• Select "Interfacing Options"

• Select "SSH", select "Yes"

• Reboot to confirm the changes

Make it connect to the WiFi network of the Raspian RPI on boot:

• Press on the WiFi symbol and select "Edit Connections"

• Select the RPI network and click Edit

• Below "General", make sure that "Automatically connect to this network when it is available" is selected

• Edit any other networks you previously have connected to and make sure that "Automatically connect to this network when it is available" is NOT selected

Get its IP address:

• Make sure it is connected to the Raspbian RPI wifi

• $ ifconfig

• The IP address is found as "inet addr" below "wlan0". In my case I got: 172.24.1.57

Install ROS:

• TODO! TODO! TODO! TODO! TODO! TODO! TODO! TODO! TODO! TODO! TODO! TODO! TODO! TODO! TODO!

Create a catkin workspace in skalman/laptop:

• $ cd ~/skalman/laptop

• $ mkdir catkin_ws

• $ cd catkin_ws

• $ mkdir src

• $ catkin_make

• $ sudo nano ~/.bashrc

• Add the below line to the bottom of this file (Ctrl+Shift+v to paste the line, Ctrl+x - y - Enter to save the file)

• $ source ~/.bashrc

Install all dependent packages for TurtleBot3 control:

• $ sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation

• $ cd ~/skalman/laptop/catkin_ws/src/

• $ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

• $ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

• $ cd ~/skalman/laptop/catkin_ws

• $ catkin_make

Install the image_transport package:

• $ sudo apt-get install ros-kinetic-image-transport-plugins

Install the aprilTags package:

• $ cd ~/skalman/laptop/catkin_ws/src

• $ git clone https://github.com/RIVeR-Lab/apriltags_ros.git

• $ cd ~/skalman/laptop/catkin_ws

• $ catkin_make

Get its IP address:

• Make sure it is connected to the Raspbian RPI wifi

• $ ifconfig

• The IP address is found as "inet addr" below "wlan0". In my case I got: 172.24.1.72

In my case, the laptop has IP address 172.24.1.72 and the Ubuntu RPI has IP address 172.24.1.57

On the laptop (master):

• $ sudo nano ~/.bashrc

• Add the following two lines to the bottom of the file: "export ROS_MASTER_URI=http://172.24.1.72:11311" and "export ROS_HOSTNAME=172.24.1.72"

• $ source ~/.bashrc

On the Ubuntu RPI (slave):

• $ sudo nano ~/.bashrc

• Add the following two lines to the bottom of the file: "export ROS_MASTER_URI=http://172.24.1.72:11311" and "export ROS_HOSTNAME=172.24.1.57"

• $ source ~/.bashrc

Power on the Raspbian RPI and wait for a few seconds (for the wifi hotspot to start)

Connect the laptop to the Raspbian RPI wifi

Connect the battery and power on the OpenCR (this will power on the Ubuntu RPI)

SSH into the Ubuntu RPI:

• [laptop] $ ssh [email protected]

SSH into the Raspbian RPI:

• [laptop] $ ssh [email protected]

[laptop] $ roscore

• (ALT 1) Launch publishers for all sensors (INCLUDING THE LIDAR) and subscribers for steering commands:

• • [Ubuntu RPI] $ roslaunch turtlebot3_bringup turtlebot3_robot.launch

• (ALT 2) Launch publishers for all sensors except the LIDAR and subscribers for steering commands:

• • [Ubuntu RPI] $ roslaunch turtlebot3_bringup turtlebot3_core.launch

Launch keyboard teleoperation:

• [laptop] $ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Start video streaming on the Raspbian RPI:

• [Raspbian RPI] $ sh start_video_stream.sh

Launch the webpage:

• (Make sure that the laptop is connected to the Raspian RPI wifi)

• (Make sure that the Raspbian RPI is streaming video)

• [laptop] python ~/skalman/laptop/webpage/app.py

Power on the Raspbian RPI and wait for a few seconds for the wifi hotspot to start

Connect the laptop to the Raspbian RPI wifi (RPI_Summer17)

Connect the battery and power on the OpenCR (this will power on the Ubuntu RPI)

SSH into the Raspbian RPI:

• [laptop] $ ssh [email protected]

[Raspbian RPI] $ sh start_video_stream.sh

[laptop] $ roslaunch skalman laptop.launch

SSH into the Ubuntu RPI:

• [laptop] $ ssh [email protected]

[Ubuntu RPI] $ roslaunch skalman ubuntu_rpi.launch

Go to http://172.24.1.72:5000/ (manually steer using WASD on the laptop, or using the arrows on a smartphone)