ANCRO (Autonomous Navigation and Communication Robot): Raspberry Pi 4 and Nvidia Jetson Nano Setup Guide

Raspberry Pi 4 Setup

Requirements

• Class 10 32/64 GB MicroSD Card with SD card Adapter/Card reader
• Laptop with internet connection
• Raspberry Pi 4
• 5V 3A power supply
• SSH Client (e.g., PuTTY)
• Angry IP Scanner or any IP scanner

Steps

1. Prepare the MicroSD Card:

   • Insert the MicroSD card into your laptop.
   • Download the Ubuntu 18.04 image file from Ubuntu Releases.
   • Flash the image to the MicroSD card using Balena Etcher.

2. Configure Network Settings:

   • Open the System-boot partition of the flashed SD card.
   • Open a terminal in this partition.
   • Edit the network-config file:

     sudo gedit network-config
   • Uncomment the wifis: and wlan0 sections.
   • Replace homessid and password with your WiFi SSID and password.
   • Save and close the file.

3. Boot Raspberry Pi:

   • Eject the MicroSD card and insert it into the Raspberry Pi.
   • Power on the Raspberry Pi with a 5V 3A power supply.
   • Find the IP address of the Raspberry Pi using Angry IP Scanner.
   • Connect via SSH:

     ssh ubuntu@<pi-ip-address>
   • Use ubuntu as both the username and password. Change the password upon first login.

4. Update System and Packages:

   sudo apt-get update && sudo apt-get upgrade -y

5. Microphone and Speaker Setup:

   • Install required packages:

     sudo apt-get install espeak alsa-utils pulseaudio

6. Using USB Pendrive:

   • Mount USB pendrive:

     sudo fdisk -l
     sudo mkdir /media/usb
     sudo mount /dev/sdb1 /media/usb
   • Copy files:

     cp test.py /home/ubuntu/
   • Unmount USB pendrive:

     sudo umount /media/usb

7. Vosk Speech Recognizer:

   • Install Vosk:

     sudo apt-get install python3-pip -y
     sudo -H pip3 install --upgrade pip
     python3 -m pip install https://github.com/alphacep/vosk-api/releases/download/0.3.21/vosk-0.3.21-py3-none-linux_aarch64.whl
   • Download model from Vosk Models.

8. PortAudio and PyAudio:

   • Install PortAudio:

     sudo apt-get install libasound-dev
     wget http://files.portaudio.com/archives/pa_stable_v190700_20210406.tgz
     tar -zxvf pa_stable_v190700_20210406.tgz
     cd portaudio
     ./configure && make
     sudo make install
   • Install PyAudio:

     sudo pip install pyaudio

9. Wakeup Word Detection:

   sudo pip3 install pvporcupinedemo
   porcupine_demo_mic --keywords blueberry

10. ROS Melodic Installation:

    • Add ROS repository and key:

      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://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
    • Install ROS:

      sudo apt-get update
      sudo apt-get install ros-melodic-desktop-full
      sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential python-catkin-tools -y
      sudo rosdep init
      rosdep update
    • Configure ROS environment:

      echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
      source ~/.bashrc
      mkdir -p ~/catkin_ws/src
      cd ~/catkin_ws/src
      catkin_init_workspace
      cd ~/catkin_ws
      catkin_make
      echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
      source ~/.bashrc
    • Install additional ROS packages:

      sudo apt-get install ros-melodic-rosserial* ros-melodic-openni* ros-melodic-freenect*

11. YDLidar ROS:

    • Clone and build YDLidar ROS package:

      cd ~/catkin_ws/src
      git clone https://github.com/YDLIDAR/ydlidar_ros
      cd ~/catkin_ws
      catkin_make
    • Set up YDLidar:

      roscd ydlidar_ros/startup
      sudo chmod 777 ./*
      sudo sh initenv.sh

Nvidia Jetson Nano Setup

Requirements

• Class 10 32/64 GB MicroSD Card with SD card Adapter/Card reader
• Laptop with internet connection
• Nvidia Jetson Nano
• 5V 3A power supply
• HDMI monitor, mouse, and keyboard

Steps

1. Prepare the MicroSD Card:

   • Insert the MicroSD card into your laptop.
   • Download the Jetson Nano image file from Nvidia Developer.
   • Flash the image to the MicroSD card using Balena Etcher.

2. Initial Setup:

   • Insert the MicroSD card into the Jetson Nano.
   • Connect HDMI, mouse, and keyboard.
   • Power on the Jetson Nano and complete the Ubuntu setup.

3. Object Detection Setup:

   • Install required packages:

     sudo apt-get update
     sudo apt-get install v4l-utils dialog git cmake libpython3-dev python3-numpy
   • Clone and build Jetson Inference:

     git clone --recursive https://github.com/dusty-nv/jetson-inference
     cd jetson-inference
     mkdir build
     cd build
     cmake ../
     make
     sudo make install
     sudo ldconfig
   • Run Object Detection Demo:

     cd /jetson-inference/build/aarch64/bin
     ./detectnet-camera.py --network=ssd-mobilenet-v2 --camera=/dev/video0

4. TensorFlow Installation:

   • Install TensorFlow dependencies:

     sudo apt-get update
     sudo apt-get install libhdf5-serial-dev hdf5-tools libhdf5-dev zlib1g-dev zip libjpeg8-dev liblapack-dev libblas-dev gfortran
     sudo apt-get install python3-pip
     sudo pip3 install -U pip testresources setuptools==49.6.0
     sudo pip3 install -U numpy==1.19.4 future==0.18.2 mock==3.0.5 h5py==2.10.0 keras_preprocessing==1.1.1 keras_applications==1.0.8 gast==0.2.2 futures protobuf pybind11
     sudo pip3 install --pre --extra-index-url https://developer.download.nvidia.com/compute/redist/jp/v45 tensorflow

5. Sharing WiFi Internet Over Ethernet:

   • Follow instructions from Ask Ubuntu.

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This guide provides a comprehensive setup for both Raspberry Pi 4 and Nvidia Jetson Nano, including network configuration, system updates, peripheral setup, ROS installation, and additional software installations. For any further assistance or troubleshooting, please refer to the respective official documentation.