Raspberry pi Setup:

1. Install Ubuntu Server on SD card. Configure the user as pisaBot and the ssh keys.
2. Configure the network:
   1. Run this for the sd card wpa_passphrase "Other network name" password | sudo tee -a mnt/sd_card/etc/netplan/50-cloud-init.yaml
   2. Then reformat the to match the above link. i.e.

      access-points:
      "SSID1":
          password: "pass1"
      "SSID2":
          password: "pass2"
      

3. Boot the pi up with the sd card and ssh in.
4. sudo apt update
5. Install ROS (ros-noetic-desktop)
   1. Configure your Ubuntu repositories:

      $ sudo add-apt-repository universe
      $ sudo add-apt-repository multiverse
      $ sudo add-apt-repository restricted
      

      To check that this worked:

      $ grep ^deb /etc/apt/sources.list
      

6. In a separate terminal clone jshen, and pisaBot. Use git submodule update --init to clone submodules after clone.
7. Add jshen/src/machine/pisaBot.bash:

   #!/bin/bash
   source $HOME/pisaBot/devel/setup.bash
   

8. Get MPU-6050 working:

   sudo apt-get install libi2c-dev i2c-tools libi2c0
   

9. Get gpio raspberry pi working:
   1. sudo pip install RPi.GPIO
   2. sudo adduser jordan gpio
10. catkin_make in piasBot.