Raspberry PI 4 Setup Instructions

Raspberry PI 4 Setup Instructions

Last updated: 2/6/2023

What you need

• A Raspberry PI 4
• A MicroSD card with at least 64 GB of capacity
• The Raspberry PI Imager, which can be downloaded here.

Flashing the SD card

• Connect the SD card to your machine.
• Run the Raspberry PI Imager with sudo

  sudo rpi-imager
  

• Under Operating System, select Ubunutu Server 20.04.5 LTS (64-BIT). This will install a headless (no GUI) version of Ubuntu 20.04. NOTE: As new version of Ubuntun are released, this instruction may need to be updated.
• Under Storage, select the SD card that you connected.
• Click the gear icon for advanced settings.
• Check Enable SSH and select Use password authentication.
• Check Set username and password and set to:
  • Username: mpclab
  • Password: mpclab
• Scroll to bottom and click SAVE.
• Click Write.

Setting up the Raspberry PI

• Insert the SD card into the slot on the Raspberry PI.
• Connect the Raspberry PI to a display, keyboard, and power source.

WiFi Setup for Headless Installations

• On the Raspberry PI, run the command ip addr show and make note of the MAC address next to link/ether for the wireless network interface wlan0. The MAC address is an 8 character string with every two characters separated by a colon.
• Follow the instructions in the MPC Lab WiFi instructions document about whitelisting a device for connection to the lab WiFi network.
• Navigate to /etc/netplan and open up the configuration file 50-cloud-init.yaml for editing, e.g.

  cd /etc/netplan
  vim 50-cloud-init.yaml
  

• Edit the file so it looks as follows, where you should replace <IP> with a static IP address for the Raspberry PI. Make sure that it does not conflict with the IP addresses of any existing devices on the network.

  network:
      version: 2
      wifis:
          renderer: networkd
          wlan0:
              access-points:
                  MPC_LAB_5G:
                      password: self.barc_h0me
              dhcp4: true
              optional: true
              addresses: [<IP>/24]
              gateway4: 192.168.50.1
  

• Apply the settings using sudo netplan apply
• Check that you have connected to the network by running a command like sudo apt update

Install ROS 2

• Follow the instructions here to install ros-foxy-ros-base.

• Follow the instructions here to install colcon.

Install MPC Lab BARC code base

• Install vcstool with

  sudo apt install python3-vcstool
  

• Install gcc and g++ with

  sudo apt install gcc g++
  

• Install pip with

  sudo apt install python3-pip
  

• Install prerequisite Python packages with

  python3 -m pip install pip -U
  python3 -m pip install matplotlib numpy scipy -U
  

• Clone barc_core with

  git clone https://github.com/MPC-Berkeley/barc_core.git
  

• Save your GitHub credentials with

  cd barc_core
  git config --global credential.helper store
  git pull
  

• Clone the MPC Lab BARC repositories

  cd ws/src
  vcs import < ../../repos/master.repos
  

• Build the ROS packages

  cd ../
  colcon build --symlink-install