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How to install ROS Hydro on Intel Galileo

Description: This tutorial covers the installation of ROS Hydro on the Intel Galileo development board.

Keywords: Galileo Openembedded Yocto

Tutorial Level: INTERMEDIATE

Next Tutorial: Start - Choose one: The Debian Way The Yocto Way

Under construction

Clearly, this page is still under construction and not ready for use

Introduction

This tutorial covers the installation of ROS Hydro on the Intel Galileo development board.

Note that the Galileo board can also be used as an Arduino, simply running sketches, and communicating over USB to a host computer. In this mode, the rosserial_arduino stack would be much simpler to use.

About the board

There are several ports on the Galileo board:

USB Client / Programming port - For interfacing to the Galileo as if it were an Arduino. You can install sketches, and communicate via the Arduino serial libraries. This is usb port closest to Ethernet
USB Host Port - I assume this acts as a USB port to the Quark processor, but I'm not sure.
Serial port - The 1/8" jack (which looks like a headphone jack) next to the Ethernet port.
Ethernet - You should know what this looks like.

Note that you cannot log in to the Linux console via the USB port! You'll either need to:

Enable networking and SSH or telnet and log in via the Ethernet port (see this post) *OR*
Buy or make a serial port adapter. (Here's one on amazon: http://www.amazon.com/gp/product/B004T9BBJC/ref=oh_details_o00_s00_i00?ie=UTF8&psc=1, you may also need a serial-to-usb adapter) This is not completely necessary, but really helps debugging when something goes wrong.

The Intel Galileo board runs Yocto Project Linux, based on the Open Embedded project. This is more of a framework and collection of recipes for creating a Linux image, than it is a Linux distribution.

Tutorials

The following tutorials should be completed in order. These should allow you to get ROS up and running on the Galileo board, as well as get you started on cross-compiling with the Yocto framework.

The Debian way

This uses bootstrap to create a Debian image. It's not Intel's supported distribution, but it's easier to use, and much easier to debug when things go wrong:

Start: The Debian way

The Yocto way

This Yocto build is what Intel provides. These tutorials are not quite as developed and may still have some errors:

GPIO programming

GPIO programming