omnicopter_ros

How to setup a Raspberry Pi Zero to run the omnicopter software:

1. Install Raspbian Jessie Lite by following the instructions here: https://www.raspberrypi.org/documentation/installation/installing-images/

2. Connect the Pi Zero to a monitor using the mini HDMI connector. Use a USB OTG adapter to connect a keyboard to the single USB port of the Pi Zero. Power the Pi Zero up by connecting a USB power adapter that can deliver minimum 1A to the "PWR IN" USB port. Default login user "pi", password "raspberry".

3. Enter the terminal command sudo raspi-config. The hostname and password can be changed here if desired (options 1 and 2). Select "5 Interfacing Options" and then enable SSH (P2) and I2C (P5).

The remaining part of the setup can be done over SSH. If you do not use SSH you will probably need a USB hub to connect to the internet while still having the keyboard connected. You might also want to change the keyboard layout if you are not using a UK keyboard layout.

4. Connect the Pi to the internet using a USB-Ethernet adapter, wifi dongle or shared internet from a Smartphone

5. Increase the amount of swap space from 100MB to 500MB. 100MB is a bit to low for compiling ROS: open /etc/dphys-swapfile using e.g. vim or nano and change CONF_SWAPSIZE=100 to CONF_SWAPSIZE=500. Then restart the swap service:

sudo /etc/init.d/dphys-swapfile stop
sudo /etc/init.d/dphys-swapfile start

6. Install ROS

7. Install RTIMULib

8. Install Eigen: Coly the "Eigen" folder to /usr/local/include

9. Create a ROS workspace and clone this repo to the workspace src folder

10. Build with catkin and run the software with the included launch files