RASPBERY PI

1. Hardware 1.1. De qu est hecha la Raspberry Pi 1.1.1. SoC

Un SoC (system o chip) es un integrado que incorpora todos los componentes del sistema. En el caso de la Raspi, lleva un Broadcom BCM2835 que incluye: el procesador (ARM1176JZF-S), la tarjeta grfica con aceleracin grfica 3D y de video en alta definicin, 512 Mb de RAM, tarjeta de sonido estreo y bus USB. 1.1.2. Tarjeta de red Conector RJ-45 conectado a un integrado lan9512 -jzx de SMSC que proporciona conectividad a 10/100 Mbps adems de buses USB 2.0. 1.1.3. Conexiones Dos buses USB Puerto ethernet RJ-45 Salida analgica de audio estereo por jack de 3.5 mm. Salida digital de video + audio HDMI Salida analgica de video RCA Pines de entrada y salida de propsito general

1.2. Elementos para usar Raspberry pi Como mnimo para dejar la placa funcionando es necesario: Placa Raspberry Pi Tarjeta SD de al menos 4 Gb Adaptador de alimentacin USB Cable micro-USB Para instalar el sistema operativo adems necesitamos Ordenador Lector de tarjetas SD Para poder conectar dispositivos USB (discos duros, teclado, ratn) necesitamos: Hub USB alimentado Para poder conectar la placa a una pantalla necesitamos: Cable HDMI o bien adaptador activo de HDMI a VGA

2. Instalacin y configuracin de Raspberry Pi 2.1. Instalacin de Raspbian Para la instalacin del sistema operativo a la tarjeta SD de Raspi usando Windows. No se va a tratar de una instalacin al uso, sino de introducir una imagen en la tarjeta de memoria. Primer paso es dirigirse a la web de descargas de Raspberry-Pi (http://www.raspberrypi.org/downloads) y descargar una imagen del sistema operativo.

El archivo pesa cerca de 500 mb. Una vez descargado, se extrae su contenido (un archivo .img) a cualquier carpeta.

El segundo paso es descarga Win32 Disk Imager (http://sourceforge.net/projects/win32diskimager/files/latest/download), una utilidad que permitir meter la imagen de Raspbian en la tarjeta SD. Se abre el archivo y se extrae su contenido a cualquier carpeta. Finalmente se ejecuta Win32DiskImager

Introducimos la tarjeta SD en el lector de tarjetas del ordenador, se selecciona la imagen que se ha extrado anteriormente y se hace clic en Write.

Una vez copiada la imagen, se introduce la tarjeta SD en la Raspberry pi

3. Raspberry Pi como placa de prototipos electrnicos El SoC Broadcom BCM2835 dispone de numerosos pines de entrada/salida de propsito general (GPIO) que proveen de un puerto SPI (puerto serie), un puerto IC, salidas PWM y salidas/entradas digitales.

Estos pines permitiran comunicacin con otros dispositivos TTL de forma directa como puede ser Arduino y microcontroladores varios sin contar que sobre ellos se pueden conectar dispositivos directamente Como LEDs, transistores, rels, etc.

4. SISTEMA OPERATIVOS

4.1 Arch Linux Es una distribucin Linux para computadoras i686 y x86-64.3 Se compone fundamentalmente de software libre y de cdigo abierto,4 y apoya la participacin comunitaria.5 El enfoque de diseo se centra en la simplicidad, la elegancia, la coherencia de cdigo y el minimalismo. Arch Linux define simplicidad como ...una ligera estructura base sin agregados innecesarios, modificaciones, o complicaciones, que permite a un usuario individual modelar el sistema de acuerdo a sus propias necesidades. La simplicidad de su estructura no implica sencillez en su manejo.6 Inspirado por CRUX, otra distribucin minimalista, Judd Vinet cre Arch Linux en marzo de 2002. Arch Linux utiliza un modelo de rolling release, de tal manera que una actualizacin regular del sistema operativo es todo lo que se necesita para obtener la ltima versin del software; las imgenes de instalacin son simplemente capturas de los principales componentes del sistema.

4.2 Raspbmc Raspbmc is a minimal Linux distribution based on Debian that brings XBMC to your Raspberry Pi. This device has an excellent form factor and enough power to handle media playback, making it an ideal component in a low HTPC setup, yet delivering the same XBMC experience that can be enjoyed on much more costly platforms. Raspbmc is brought to you by the developer of the Crystalbuntu Linux Distribution, which brings XBMC and 1080p decoding to the 1st generation Apple TV. Heres why you might like Raspbmc Free and open source. Supports both wired and WiFi out of the box! Multiple languages supported No knowledge of Linux is needed. If you want to use the Raspberry Pi as an XBMC frontend you can do exactly that with no knowledge of how anything works. It can be installed with a few simple clicks from a Mac or a PC running Windows or Linux. Its auto updating, meaning you constantly get new features, performance and driver updates. You can however turn updates off at any time. It supports 1080p playback.

Share your content from your PC over NFS, SMB, FTP and HTTP and a USB drive in almost any format. AirPlay and AirTunes support allow you to send music and video from your iDevice to the TV. Can be installed to SD card, USB drive, or run off an NFS share. Has the following services embedded: Samba server

Full GPIO support! As it is a Debian system, it is completely expansive and you can install any packages from Debians massive repository! 1080p DTS decoding in software. TVHeadend server FTP server SSH server Secure out of the box iptables restricts network to LAN only by default.

4.3 Pidora Pidora is a Linux software distribution for the Raspberry Pi computer. It contains software packages from the Fedora Project (specifically, the Fedora ARM secondary architecture project) compiled specifically for the ARMv6 architecture used on the Raspberry Pi, packages which have been specifically written for or modified for the Raspberry Pi, and software provided by the Raspberry Pi Foundation for device access.

4.4 Open Embedded Linux Entertainment Center (OpenELEC) Is a small Linux distribution built from scratch as a platform to turn your computer into an XBMC media center. OpenELEC is designed to make your system boot fast, and the install is so easy that anyone can turn a blank PC into a media machine in less than 15 minutes. It's completely free A full install is only 80-125MB Minimal hardware requirements Simple install to HDD, SSD, Compact Flash, SD card, pen drive or other Optimized builds for Atom, ION, Intel, Fusion and more Simple configuration through the XBMC interface Plug and Play external storage File sharing out of the box

4.5 Raspbian Raspbian is a free operating system based on Debian optimized for the Raspberry Pi hardware. An operating system is the set of basic programs and utilities that make your Raspberry Pi run. However, Raspbian provides more than a pure OS: it comes with over 35,000 packages, pre-compiled software bundled in a nice format for easy installation on your Raspberry Pi.

4.6 Risc OS El sistema operativo RiscOS fue creado para la plataforma Acorn, una serie de ordenadores del reino Unido, en dichos pases que conforman el reino unido y en parte de Alemania alberg, un creciente xito. El gran auge de esta plataforma fue contemporneo al uso mayoritario de ordenadores ATARI y Amiga. Lo que perdur fue cuando separaron el procesador ARM de su arquitectura para usarlo en todo tipo de sistemas electrnicos, no sin antes solucionar un gran problema y es que tena nicamente un bus de direcciones d 26 bits, lo que haca que los sistemas puros de 32bits tuvieran grandes problemas con las aplicaciones escritas, este tipo de problemas empezaron a desaparecer con la famlia strongARM, de la cual Digital y luego Intel fueron parte activa en la vida de ARM. Pero ahora se ha reeditado el sistema operativo y se ha hecho libre, adems de que en la versin 5 del mismo y con pequeas aplicaciones se puede disfrutar de todo el elenco de aplicaciones del que dispone este sistema operativo, del cual podemos asegurar que es un sistema liviano y realmente maduro. Se puede afirmar que ARM naci en riscos, y fue adaptndose a las necesidades que requera el sistema operativo, pero separarse de su plataforma original ha sido sin dar lugar a ninguna duda, la mejor decisin de ARM, y ARM aparece en escena cuando intentan licenciar parte del desarrollo del 286 e Intel les contesta que, Soy una empresa que vende chips, no desarrollos de los mismos, y menos an parte de dichos desarrollos. Al ser contemporneos de ATARI y Amiga, tambin entr en el sector del mercado de la edicin de video, hablamos de la plataforma Acorn.

Raspberry and ROS Now just so that you are not confused about the potentials of the Raspberry Pi as a robotic processor/controller, it has great potential for small computation and can run Linux and all the great features that come along with it. But this is a Arm processor and not a typical PC cpu so it is limited by its architecture and power capabilities. Some portions of Linux code have not been completely ported to ARM processors so you will be limited at the moment to what programs you can install. But for most of ROS and

the programs I am going to cover in this tutorial, Pi is functional and can be useful depending on the demands of your project. But if you are planning to do any 3d/2d mapping/navigation with a Kinect/laser scanner at the moment I am not sure its possible utilizing just the Raspberry Pi but with time who knows. In the future I will also include another tutorial that connects the Raspberry Pi to a small robot to act as controller. So lets begin.. Step 1: Parts list

We are going to need the following items : Raspberry Pi http://www.zagrosrobotics.com/shop/item.aspx?itemid=895 Micro USB power supply USB keyboard and mouse HDMI cable Monitor with HDMI input SD Card with at least 8GB (Check this list of compatible cards )

And a computer with either Windows or Linux installed Step 2: Writing the image to the SD card

Now there are a couple of different ways to get Linux and ROS working on Raspberry PI. One way is to write the Linux image to the SD card then download and install ROS form within the Raspberry Pi. This can become difficult and time consuming for the beginner, but it is useful when creating a custom ROS installation. These steps can be found here on the ROS WIKI Rosberry Pi However we are going to be using a Linux image that has ROS pre-installed. Thanks to Jeremy Nicola for providing the image in the form of a zip file which can be found here Rosberry PI Image And in order to get our Linux image on to the SD Card we are going to use Image Writer for Windows, which can be downloaded here https://launchpad.net/win32-image-writer FOR WINDOWS : Insert the SD card into your SD card reader, then locate and remember what drive letter the SD card was assigned. Format the card and make sure there is only one partition (FAT32 is a good choice), otherwise Win32DiskImager can corrupt your SD card! Extract the Raspbian-ROS-full.img.7z file somewhere. Install and run Win32DiskImager utility as Administrator. Select the Raspbian-ROS-full.img image file

Select the drive letter of the SD card in the device box. Make sure you select the correct drive, if you select the wrong drive you can corrupt your data on that assigned drive. Click Write and wait for the write to complete. Exit the program and eject the SD card. If all goes well you should have a bootable image on your SD card. FOR LINUX : Use DD in the terminal to write the image to the SD card extract Raspbian-ROS-full.img.7z copy and paste this after replacing the correct paths to your SD card and Raspberry Pi image sudo dd if=/path/to/Download/img/file of=/path/to/SDcard example sudo dd if=/home/username/Downloads/Raspbian-ROS-full.img of=/dev/sdc Wait for the command to return. This may take some time so be patient .If all goes well you should have a bootable image on your SD card. Step 3: Starting our Rosberry for the first time

Insert the SD card into the Raspberry Pi's card slot. Connect the Raspberry PI to the HDMI monitor, keyboard, mouse and power supply. Before you can get into the desktop screen you will have to enter your username and password Username: pi

Password: raspberry And once Linux has booted to the desktop open a terminal screen [ Ctrl + Alt + t ] and enter the following : roscore The roscore is now running and we are now ready to start the tutorials. If you want some background on ROS commands and Syntax look to this Cheat Sheet for help. or the ROS Start Guide . Step 4: ROS tutorials

We are going to go over how to publish a message to the roscore then subscribe to that message. This concept is the basics behind the ROS system which gives us a dynamic way to publish/receive data to control our robot projects and get data from them. With roscore running in one terminal open another terminal and copy and paste rosrun roscpp_tutorials talker This should start publishing something like this

[ INFO] [1358365440.794845809]: hello world 0 [ INFO] [1358365440.895024702]: hello world 1 [ INFO] [1358365440.995006238]: hello world 2 [ INFO] [1358365441.095000473]: hello world 3 [ INFO] [1358365441.195000082]: hello world 4 Then open another terminal and copy and paste rosrun roscpp_tutorials listener This should output the same data that the first terminal is displaying Now lets get an idea of what is happening inside the roscore by using rxgraph to display the nodes and messages that are running in our system. Open a new terminal then copy and paste rxgraph Now you should see the running nodes and their respective messages with arrows to point out there output orientation, if you select all topics in the window you can see all the topics that are published and subscribed within the roscore. For more ROS tutorials check out the ROS Tutorials page.