3.2.1.2.1 Ubuntu Linux Box with ROS Indigo LTS

The ROS is a distributed system that can communicate over a local network with other ROS components. For this demo, the Ubuntu Linux box and the AM572x EVM must be on the exact same network and must be able to ping each other by IP address. The Ubuntu Linux box must also be able to ssh into the AM572x EVM by IP address.

Install ssh on the Ubuntu Linux box using the following command:

$ sudo apt-get install ssh

In order to run Rviz for visualizing the autonomous navigation, it requires building and installing a ROS plugin of rviz_plugin_covariance.

First, follow the ROS configuration instructions to create a new ROS workspace:

source /opt/ros/indigo/setup.bash mkdir -p ~/catkin_ws/src cd ~/catkin_ws/ catkin_make

Second, clone and build the rviz_plugin_covariance:

cd ~/catkin_ws/src git clone https://github.com/laas/rviz_plugin_covariance cd ~/catkin_ws/ catkin_make

At the end of the catkin_make, there should be a line as shown below:

[100%] Built target rviz_plugin_covariance

After the plugin is successfully built, add the following lines to ~/.bashrc to set up the ROS variables on the Ubuntu Linux box for convenience. Replace $SITARA_IP_ADDR with the IP address found from running "ifconfig" on the AM572x EVM, and $UBUNTU_IP_ADDR with the IP address found from running "ifconfig" on the Ubuntu Linux box.

source /opt/ros/indigo/setup.bash source /<workspace_dir>/devel/setup.bash export ROS_MASTER_URI=http://$SITARA_IP_ADDR:11311 export ROS_IP=$UBUNTU_IP_ADDR

The last step of the Ubuntu preparation includes copying the navigation demo packages from the AM57x target filesystem (located under /opt/ros/indigo/share/) to the Ubuntu Linux box (destination also /opt/ros/indigo/share/), including: