Radxa ROCK-5B Setup for ROS2 Docker

Step 1: Preparing the Software Environment

1. Downloading the Operating System:
   • Visit the Radxa Build for Rock 5B Releases.
   • Download rock-5b_ubuntu_jammy_cli_b39.img.xz.
   • Use Balena Etcher to install the image on an SD card.
2. Initial Login and Configuration:
   • Login with radxa radxa via SSH.
   • Change keyboard layout with

     sudo apt-get install console-data

3. Downloading and Writing the Image to SSD:
   • Download the image again for SSD installation:

     wget https://github.com/radxa-build/rock-5b/releases/download/b39/rock-5b_ubuntu_jammy_cli_b39.img.xz

   • Check if SSD is detected with

     sudo fdisk -l

   • Write the image to SSD:

     sudo xzcat rock-5b_ubuntu_jammy_cli_b39.img.xz | sudo dd of=/dev/nvme0n1 bs=1M status=progress

Step 2: Clearing and Updating the SPI Flash

1. Clearing SPI:
   • Download zero.img.gz for clearing SPI:

     wget https://dl.radxa.com/rock5/sw/images/others/zero.img.gz

   • Check the integrity with

     md5sum zero.img.gz

     It should report back ac581b250fda7a10d07ad11884a16834 zero.img.gz.

   • Uncompress with

     gzip -d zero.img.gz

     and verify

     md5sum zero.img

     It should report back 2c7ab85a893283e98c931e9511add182 zero.img.

2. Bootloader Update:
   • Download the latest bootloader:

     wget https://dl.radxa.com/rock5/sw/images/loader/rock-5b/release/rock-5b-spi-image-gbf47e81-20230607.img

   • Verify with

     md5sum rock-5b-spi-image-gbf47e81-20230607.img

     It should report back bd21a6459ad33b8189782e4c904d99b3 rock-5b-spi-image-gbf47e81-20230607.img.

   • Ensure SPI flash is available:

     ls /dev/mtdblock*

     should report back /dev/mtdblock0.

   • Clear SPI flash with

     sudo dd if=zero.img of=/dev/mtdblock0

     and verify.

   • Write the bootloader to SPI flash:

     sudo dd if=rock-5b-spi-image-gbf47e81-20230607.img of=/dev/mtdblock0

     and confirm with sync.

Step 3: Installing Docker on Rock 5B

1. Adding Docker’s GPG Key and Repository:

   sudo apt-get update
   sudo apt-get install ca-certificates curl gnupg
   sudo install -m 0755 -d /etc/apt/keyrings
   curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
   sudo chmod a+r /etc/apt/keyrings/docker.gpg
   echo
   "deb [arch="$(dpkg --print-architecture)" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu
   "$(. /etc/os-release && echo "$VERSION_CODENAME")" stable" |
   sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
   sudo apt-get update
   

2. Installing Docker:

   sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

3. Configuring Docker Group and Services:

   sudo groupadd docker
   sudo usermod -aG docker $USER
   
   sudo systemctl enable docker.service
   sudo systemctl enable containerd.service

Step 4: Final Configurations

1. Post-Boot Setup:
   • Shutdown, remove SD, and restart to boot from SSD. Change keyboard layout.
   • Update the system with

     apt update

     and

     apt upgrade

2. WiFi Configuration:
   • For WiFi, reinstall network-manager if necessary.
   • Enable and start wpa_supplicant.service.
   • List WiFi networks with

     nmcli dev wifi list

3. Setting Up a Camera Stream with VLC:
   • Install VLC with

     sudo apt install vlc

     and

     sudo apt install v4l-utils

   • Set up the camera stream:

     cvlc v4l2:///dev/video1 --sout '#transcode{vcodec=mp4v}:std{access=http,mux=ts,dst=:8080}' -vvv

   • Access the stream on a host PC with

     http://<ip-of-rock-5b>:8080

4. Setup CPU Fan:
   • Configure with rsetup and select power_allocator.
   • Identify the fan index and activate it:

     echo 3 | sudo tee /sys/class/thermal/cooling_device4/cur_state