Friday, May 19, 2017

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


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