• Install Raspbian Lite. We currently use Debian 10 (Buster).

• Change password by using

  Code Block
  language bash
  passwd pi

  
  

• Activate SSH

  Code Block
  language bash
  sudo systemctl enable ssh sudo systemctl start ssh

  
  

• Install and configure NTP

• Install tmux

  Code Block
  language bash
  sudo apt install tmux

  
  

• "Install" the RTI Connext libraries under /usr/local/lib/ by copying the arm-folder from the Main PC under opt/rti_connext_dds-6.0.0/lib/armv6vfphLinux3.xgcc4.7.2/. This can of course only be done after the ARM libraries have been installed on the Main Computer. 

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Enable autostart, using sudo nano /etc/rc.local and insert

tmux

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new-session

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-d

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-s

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"bootloader_raspberry"

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"bash

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/root/bootloader_raspberry.bash"

NTP configuration

Anchor
RaspberryNTPConfig RaspberryNTPConfig

See the NUC NTP-Configuration.

ID-Related Settings

Anchor
ID ID

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In order to create identical vehicles it might be useful to clone the SD-cards by using Clonezilla. Afterwards, only the ID-Related Settings have to be adapted at the cloned SD-card.

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The vehicle Raspberry software is cross-compiled from the master PC. The build script git:software/vehicle_raspberry_firmware/build.bash creates an archive of the compiled software and other required files and publishes it via Apache. The bootloader_raspberry.bash autostart script on the Raspberry downloads and runs this software.

ARP Table Generation

Because unsuccessful ARP requests sometimes block communication a static ARP table is sometimes useful. To generate one one needs to switch on all participants, ping each one from the main PC and then output the arp table on the main pc with e.g. https://man7.org/linux/man-pages/man8/ip-neighbour.8.html (newer) or arp -a (old).
The info can then be used to feed a script that sets up the arp entries statically for the participants. Currently this is done in https://git.rwth-aachen.de/CPM/Project/Lab/software/-/blob/feature/fastdds/mid_level_controller/package/start.bash and the static arp table is part of the package.