shc_raspi_compile_workspace.md

6. Compiling the Catkin Workspace

Previous: Create the Catkin Workspace

Since a Raspberry Pi has limited resources, the compiling of the OpenSHC package requires to create a swapfile of 4GB to overcome insufficient memory.

6.1 Disable swapoff by,

sudo swapoff /swapfile

6.2 Delete the swapfile by,

sudo rm /swapfile

6.3 Create a new swapfile of 4GB by,

sudo fallocate -l 4G /swapfile

If fallocate is not installed you can instead use the command below however it is significantly slower.

sudo dd if=/dev/zero of=/swapfile bs=1M count=4096

6.4 Assign read/write permissions to the swapfile by,

sudo chmod 600 /swapfile

6.5 Format the file as swap by,

sudo mkswap /swapfile

6.6 Activate the swapfile by,

sudo swapon /swapfile

6.7 Open your workspace

cd ~/openshc_ws

6.8 Compile your workspace using single threaded compiling by,

catkin build -j1

6.9 Make sure the catkin workspace is successfully compiled and source the devel/setup.bash file from your workspace.

source ~/openshc_ws/devel/setup.bash

6.10 You have to source the devel/setup.bash file for each terminal session you want to use SHC. You can edit the .bashrc file to get it automatically sourced to each terminal session. Open the .bashrc file by,

nano ~/.bashrc

6.11 Add the following line to the end of the file and save it.

source ~/openshc_ws/devel/setup.bash

6.12 See Troubleshooting if you encounter with any problems.

Next: Configuring WLAN Settings