image-bbb

Instructions for making a new image for the BBB that is compatible with ROSMOD and contains useful programs

Operations

Install the latest Debian Image and ensure it has an updated linux kernel

Expand the image's file system

Install ROS

Install ROSMOD

Install KRPC and Protobuff

Install OpenCV

Install emacs

Set up SSH keys

Set up BBB cape dtbi and dtbo files

Ensure initialization scripts are present to easily updated a new BBB with the new image

Setup

Clone this repo

git clone [email protected]:rosmod/image-bbb

Debian Image

Run Win32DiskImager-0.9.5-install.exe

Download and unpack the latest debian image. Currently using Debian 8.5 2016-05-13 4GB SD LXQT

Plug in an SD card with at least 8 GB, run win32DiskImager, and point it towards the image file and the sd card. Click Write

Basic BBB setup

Insert the SD card into the BBB

Press the Boot button on the BBB (the one next to the SD card slot) while powering the BBB in order for it to boot from the SD card. Keep pressing the button until the LEDs light in order.

The rest of this readme is run From the BBB itself. SSH into it using the default user. Default ip if connected through usb is 192.168.7.2

Expand the file system

Follow the instructions found here for expanding the filesystem. Be sure to expand the file system to 7GB instead of the entire SD which is the default value

Updating the image and installing emacs

Run sudo apt-get update and sudo apt-get upgrade

Remove unused programs

sudo apt-get remove apache2 avahi-daemon nodejs bonescript

Setup passwordless ssh login

For every user

cat ~/.ssh/public_key >> ~/.ssh/authorized_keys

If a public key needs to be generated from a private key

ssh-keygen -y -f ~/.ssh/private_key >> ~/.ssh/public_key

Disable logging in by password

sudo emacs /etc/ssh/sshd_config

ChallengeResponseAuthentication no
PasswordAuthentication no
UsePAM no

Setup Fail2Ban

sudo apt-get install fail2ban

Default settings are fine

Install optional programs

If desired, sudo apt-get install emacs

Install ROSMOD

Follow the instruction located in the rosmod-comm repo

Install KRPC and Protobuff

Follow the instructions located on the KRPC C++ documentation page for installing KRPC and its dependencies (ASIO and Protobuff)

Asio can be installed by running apt-get install libasio-dev

Follow the instructions above for instaling protobuff

Install OpenCV

Follow the instructions for installing OpenCV