---
# System prepended metadata

title: SOAR Linorobot Pi3

---

# SOAR Linorobot Pi3

## Robot computer configuration

Raspberry Pi 3 running Ubuntu Mate 16.04 Xenial

* Unable to get Pi 3B+ to run Ubuntu Mate

`ros-kinetic-ros-base` installed [(guide)](http://wiki.ros.org/action/show/kinetic/Installation/Ubuntu?action=show&redirect=kinetic%2FInstallation%2FUbuntuARM)

Installed Linorobot packages [(guide)](https://github.com/linorobot/linorobot/wiki/1.-Getting-Started)

* Installed for 2wd and RPlidar

* uDev Rules for `linobase` not yet implemented
* LiDAR serial detected and working

### Network Setup

Network setup should be automatically done (configured in `~/.bashrc`).

```
# >> ~/.bashrc

export ROS_MASTER_URI=http://$(hostname -I):11311
export ROS_HOSTNAME=$(hostname -I)
```

Manual configuration (have to do for every new terminal window opened)

```
export ROS_MASTER_URI=http://<robot-ip>:11311
export ROS_HOSTNAME=<robot-ip>
```

## Development computer configuration

Install ROS Kinetic on Ubuntu 16.04.

On your development computer, install the packages you need for configuration and visualization:

```
cd ~/catkin_ws/src
git clone https://github.com/linorobot/lino_pid.git
git clone https://github.com/linorobot/lino_msgs.git
git clone https://github.com/linorobot/lino_visualize.git
sudo apt-get install ros-$(rosversion -d)-teleop-twist-keyboard
cd .. && catkin_make
```

Configure network

```
export ROS_MASTER_URI=http://<robot-ip>:11311
export ROS_HOSTNAME=<devcom-ip>
```

To find out IP address

```
hostname -I
```

## LiDAR Test

On the robot’s computer, open a new terminal and run `bringup.launch`:

```
roslaunch linorobot bringup.launch
```

On your development computer, run rviz:

```
roscd lino_visualize/rviz
rviz -d laser.rviz
```

If encounter error 

```
Couldn't find AF_INET address for [xxxxx]
```

ensure that the variable `ROS_HOSTNAME` is exported correctly (refer to Network Setup section). This can be checked by entering `echo $ROS_HOSTNAME` into the terminal.