ROS kinetic, Open CV 3.2.0, chrony on RP3

ROS installation on Raspberry Pi 3.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 sudo apt-get update sudo apt-get upgrade sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake sudo rosdep init rosdep update mkdir -p ros_catkin_ws cd ros_catkin_ws/ rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall wstool init src kinetic-ros_comm-wet.rosinstall

Add chrony

xxxx@DronePi:/home/llin $ sudo apt-get install chrony Reading package lists... Done Building dependency tree Reading state information... Done The following extra packages will be installed:   libtomcrypt0 libtommath0 timelimit The following packages will be REMOVED:   ntp The following NEW packages will be installed:   chrony libtomcrypt0 libtommath0 timelimit 0 upgraded, 4 newly installed, 1 to remove and 0 not upgraded. Need to get 592 kB of archives. After this operation, 486 kB of additional disk space will be used. Do you want to continue? [Y/n] y Get:1 http://mirrordirector.raspbian.org/raspbian/ jessie/main libtommath0 armhf 0.42.0-1.1 [40.9 kB] Get:2 http://mirrordirector.raspbian.org/raspbian/ jessie/main libtomcrypt0 armhf 1.17-6 [301 kB] Get:3 http://mirrordirector.raspbian.org/raspbian/ jessie/main timelimit armhf 1.8-1 [13.8 kB] Get:4 http://mirrordirector.raspbian.org/raspbian/ jessie/main chrony armhf 1.30-2+deb8u2 [236 kB] Fetched 592 kB in 1s (402 kB/s) (Reading database ... 117074 files and directories currently installed.) Removing ntp (1:4.2.6.p5+dfsg-7+deb8u2) ... Processing triggers for man-db (2.7.0.2-5) ... Selecting previously unselected package libtommath0. (Reading database ... 117046 files and directories currently installed.) Preparing to unpack .../libtommath0_0.42.0-1.1_armhf.deb ... Unpacking libtommath0 (0.42.0-1.1) ... Selecting previously unselected package libtomcrypt0:armhf. Preparing to unpack .../libtomcrypt0_1.17-6_armhf.deb ... Unpacking libtomcrypt0:armhf (1.17-6) ... Selecting previously unselected package timelimit. Preparing to unpack .../timelimit_1.8-1_armhf.deb ... Unpacking timelimit (1.8-1) ... Selecting previously unselected package chrony. Preparing to unpack .../chrony_1.30-2+deb8u2_armhf.deb ... Unpacking chrony (1.30-2+deb8u2) ... Processing triggers for man-db (2.7.0.2-5) ... Processing triggers for systemd (215-17+deb8u7) ... Setting up libtommath0 (0.42.0-1.1) ... Setting up libtomcrypt0:armhf (1.17-6) ... Setting up timelimit (1.8-1) ... Setting up chrony (1.30-2+deb8u2) ... Creating config file /etc/chrony/chrony.conf with new version Processing triggers for libc-bin (2.19-18+deb8u9) ... Processing triggers for systemd (215-17+deb8u7) ... xxxx@DronePi:/home/llin $  chronyc tracking Reference ID    : 204.9.54.119 (ntp.your.org) Stratum         : 2 Ref time (UTC)  : Fri May 19 19:03:14 2017 System time     : 0.000000061 seconds slow of NTP time Last offset     : +0.000309320 seconds RMS offset      : 0.000309320 seconds Frequency       : 3.352 ppm fast Residual freq   : +30.246 ppm Skew            : 1000000.000 ppm Root delay      : 0.022802 seconds Root dispersion : 42.945648 seconds Update interval : 2.1 seconds Leap status     : Normal xxxx@DronePi:~ $ chronyc sources 210 Number of sources = 4 MS Name/IP address         Stratum Poll Reach LastRx Last sample =============================================================================== ^? wanderportips03.w.subnet.     3   8    77   196  +1198us[+1198us] +/-   52ms ^* ntp.your.org                  1   8    37   198   +390us[ +699us] +/-   15ms ^- jtsage.com                    2   8    37   198  +1019us[+1328us] +/-   66ms ^? time-b.timefreq.bldrdoc.g     1   9     2   192    +45ms[  +45ms] +/-   70ms

Prepare necessary packages

root@DronePi:/home/llin# apt-get install build-essential cmake pkg-config root@DronePi:/home/llin# apt-get install libavcodec-dev libavformat-dev libswscale-dev root@DronePi:/home/llin# apt-get install libgtk2.0-dev root@DronePi:/home/llin# apt-get install libatlas-base-dev gfortran root@DronePi:/home/llin# apt purge python2.7-minimal root@DronePi:/home/llin# pip3 install numpy

Build opencv 3.2.0

wget -O opencv-3.2.0.zip https://github.com/opencv/opencv/archive/3.2.0.zip unzip opencv-3.2.0.zip cd opencv-3.2.0/ mkdir build cd build/ cmake -D PYTHON_EXECUTABLE=/usr/bin/python3 -D PYTHON_LIBRARY=/usr/lib/arm-linux-gnueabihf/libpythyon3.4m.so.1 -D PYTHON_INCLUDE_DIRS=/usr/include/python3.4m .. make -j4 sudo make install