tags: Public, Technical, Embedded, Linux, Ubuntu, Android, RK3399, BCM2711, Raspberry Pi, ROS

SBC (single-board computer)

Radxa ROCK Pi 4

• https://wiki.radxa.com/Rockpi4/rockpi-android11

Khadas EDGE-V

Raspberry Pi

Ubuntu 20.04.4 LTS (Focal Fossa) for Raspberry Pi (ARM64)

• Default user and password: ubuntu

Setup Wi-Fi

• https://huobur.medium.com/how-to-setup-wifi-on-raspberry-pi-4-with-ubuntu-20-04-lts-64-bit-arm-server-ceb02303e49b
• https://wiki.ubuntu.com/ARM/RaspberryPi

Instal GUI Environment

Install SSH Server

Change Hostname

• sudo hostnamectl set-hostname Raspi-Focal

Install Timeshift

Setup Swap

• sudo fallocate -l 4G /swapfile
• sudo chmod 600 /swapfile
• sudo mkswap /swapfile
• sudo swapon /swapfile
• sudo vim /etc/fstab
• Add /swapfile swap swap defaults 0 0

Accelerated X Driver

• https://wiki.ubuntu.com/ARM/RaspberryPi#Accelerated_X_driver
• http://m-ac.jp/raspi/ubuntu/x/setup/fbturbo/index_j.phtml
• https://github.com/ssvb/xf86-video-fbturbo/wiki/Installation
• sudo apt install git build-essential automake
• sudo apt install xorg-dev xutils-dev x11proto-dri2-dev libltdl-dev libtool libdrm-dev
• mkdir ~/git/ssvb
• cd ~/git/ssvb
• git clone https://github.com/ssvb/xf86-video-fbturbo.git -b aarch64
• cd xf86-video-fbturbo
• autoreconf -vi
• ./configure --prefix=/usr
• make
• sudo make install
• sudo cp xorg.conf /etc/X11/xorg.conf

ROS Compatibility

Hardware	CPU	Memory	ROS Building	ROS Running	Tested
3B+	4x ARM Cortex-A53 @ 1.2 GHz	1 GB	Not enough memory	Limited	Yes
4B	4x ARM Cortex-A72 @ 1.2 GHz	4 GB	Limited	Limited	Yes
4B	4x ARM Cortex-A72 @ 1.2 GHz	8 GB	OK	OK	NO

ハードウェア	CPU	メモリ	ROSビルド	ROS実行	テスト済み
3B+	4x ARM Cortex-A53 @ 1.2 GHz	1 GB	メモリ不足	限られた	はい
4B	4x ARM Cortex-A72 @ 1.2 GHz	4 GB	限られた	限られた	はい
4B	4x ARM Cortex-A72 @ 1.2 GHz	8 GB	OK	OK	いいえ

限られた：シンプルまたはシングルタスク

NVIDIA Jetson Nano