• Install Raspbian Lite
• Change password by using:

  passwd pi

• Install and configure NTP
• Install tmux: 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 PC. 

It should look like this afterward:

pi@raspberrypi-06:~ $ find /usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpzd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2z.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcp.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2d.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppzd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsc.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcpp.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscore.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringzd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscorez.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscored.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsjava.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2zd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsczd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscorezd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsjavad.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoring.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppzd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlc.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlczd.a

Read-Only Filesystem

For the following steps, you may need writing access to the file system, which you should else have set to read only (because of the power situation, as the vehicles can be switched on and off without shutting down the system properly). To get writing access, use:

sudo mount -o remount,rw /

to remount the system. More information can be found at: https://www.mehr4u.de/raspberry-pi-mit-readonly-filesystem.html.

'Register' the Libraries

Make the libraries available. Insert /usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2 into /etc/ld.so.conf. Then run sudo ldconfig.

Configure Bootup Behaviour

Copy the file git:software/vehicle_raspberry_firmware/bootloader_raspberry.bash to /root/bootloader_raspberry.bash on the Raspberry.

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

tmux new-session -d -s "bootloader_raspberry" "bash /root/bootloader_raspberry.bash"

ID-Related Settings

Edit the /etc/hostname file to give the Raspberry a unique name. The name should correspond to the vehicle ID, for example raspberrypi-06 or raspberrypi-42.

Create a DHCP reservation for the Raspberry on the router. The vehilce ID is derived from the IP. The IP is 192.168.1.1XX where XX are the digits of the vehicle ID.

Cross Compilation and Software Distribution

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.