###### 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)](https://cdimage.ubuntu.com/releases/20.04.4/release/ubuntu-20.04.4-preinstalled-server-arm64+raspi.img.xz)
- 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