Hardware Reference
In-Depth Information
[ rosmake ] Summary output to directory
[ rosmake ] /home/pi/.ros/rosmake/rosmake_output-20130909-141408
At this point, you should have an installation on your Raspberry Pi that contains the
core ROS stack and the additional ROS components necessary to support the NXT
Mindstorms brick and sensors. If you've made it this far, you should be proud. While
ROS is an awesome toolkit, installing it for the Raspberry Pi is no easy task at the
moment.
Testing the ROS Connection to the NXT Brick
It's time to make sure that ROS can see the NXT Intelligent Brick. Make sure your brick
has fresh batteries (or an AC adapter plugged in), and power it on (the orange button
in the center is the power button). Connect the USB cable from the NXT Brick to the
Raspberry Pi. (Feel free to put a powered USB hub in the middle.)
Get out one of the touch sensors from the NXT Mindstorms kit. This sensor is used
by the kit to indicate when your robot runs into something (and thus “touches” it). It
has an orange button on its tip that you can easily press in with your finger. Connect
the touch sensor to Port 1 (lower left of the NXT brick).
Then open two sessions to the Raspberry Pi (either terminals if you are running locally,
or SSH sessions if not—see
Hack #12
for help). In the first session, you're going to start
roscore
, the heart of ROS. It provides support for the nodes that allow the ROS infra-
structure to function. You can start it manually to test your connection by running
roscore
, which should result in output that looks like the following:
$ roscore
... logging to /home/pi/.ros/log/bffc809a-1957-11e3-b0b1-b827eb545e36/
roslaunch-raspberrypi-12155.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://raspberrypi:44402/
ros_comm version 1.9.41
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
NODES
