元記事

Installation（ubuntu16.04のイメージの準備)

Installation is the same as other Raspberry Pi images; a generic installation guide from raspberrypi.org is available here.

ここからイメージをダウンロードする
今回は、DD for windowsでイメージをコピー

Tips

ホスト名 ubuntuを正引きする際にタイムアウト（時間がかかる）まで待ってしまうので、
/etc/hostsに以下を追加する。
127.0.0.1 ubuntu

重要（これをやらないと、apt-get upgradeを実行したあとに起動しなくなる。）

However, the Raspberry Pi has its own built in bootloader. This can be used with a few changes to the config.txt file on the system-boot partition:
u-bootは使わずvmlinuzを使う
sudo vi /boot/firmware/config.txt$ kernel=vmlinuzinitramfs initrd.img followkernel#device_tree_address=0x02000000`

Note
the change to the kernel line, the addition of the initramfs line, and the commenting out (#) of the device_tree_address line.

All that remains is to copy bcm2710-rpi-3-b.dtb (plus the overlay folder if needed) from /lib/firmware/4.4.0-1065-raspi2/device-tree to the system-boot partition.

この後、rebootで再起動することを確認する。
次に

$ sudo apt-get update
$ sudo apt-get upgrade 
E: Could not get lock /var/lib/dpkg/lock - open (11: 
Resource temporarily unavailable)
E: Unable to lock the administration directory 
(/var/lib/dpkg/), is another process using it?
/var/lib/dpkg/lockを開いているプロセスを確認する。

$ sudo lsof /var/lib/dpkg/lock
 COMMAND    PID USER   FD   TYPE DEVICE SIZE/OFF  NODE NAME
 unattende 1153 root    5uW  REG  179,2        0 41402 
 /var/lib/dpkg/lock
 unattemde<--自動更新用のプロセスが/var/lib/dpkg/lockを開いていた
 これをuninstall 
$ sudo apt-get remove update-manager
 E: dpkg was interrupted, you must manually run 'sudo 
 dpkg --configure -a' to correct the problem.
$ sudo dpkg --configure -a
$ apt-get upgrade reboot

無事成功

Optional PPAs

While the official image includes compatible firmware, bootloader and kernel, there are a few packages available in an unofficial PPA (ppa:ubuntu-raspi2/ppa) which are useful on the Raspberry Pi, including:

libraspberrypi-bin - VideoCore utilities from https://github.com/raspberrypi/userland such as vcgencmd, raspistill, etc.

libraspberrypi-bin-nonfree - Binary VideoCore utilities not provided in the open source userland repository, currently vcdbg and edidparser.

xserver-xorg-video-fbturbo - An accelerated x.org video driver, though this is limited to hardware accelerated window moving/scrolling on the Raspberry Pi.

hello-dkms - Not strictly to do with the Raspberry Pi, but a small example DKMS project to test building kernel DKMS modules.

To install:(オプションのリポジトリを追加する）

$ sudo add-apt-repository ppa:ubuntu-raspi2/ppa
 https://wiki.ubuntu.com/ARM/RaspberryPi

 Optional PPA for Raspberry Pi 2/3 installations.
 More info: https://launchpad.net/~ubuntu-raspi2/+archive/ubuntu/ppa
 Press [ENTER] to continue or ctrl-c to cancel adding it

 gpg: keyring `/tmp/tmpe3iizixs/secring.gpg' created
 gpg: keyring `/tmp/tmpe3iizixs/pubring.gpg' created
 gpg: requesting key 8CBCF2F2 from hkp server keyserver.ubuntu.com
 gpg: /tmp/tmpe3iizixs/trustdb.gpg: trustdb created
 gpg: key 8CBCF2F2: public key "Launchpad PPA for Raspberry Pi 2 Ubuntu" 
 imported
 gpg: Total number processed: 1
 gpg:               imported: 1  (RSA: 1)
 OK
$ sudo apt-get update

Further Raspberry Pi packages can be found in the Ubuntu Pi Flavour Maker PPA.

To install Desktop

デスクトップをインストールする。
ubuntu-desktopをインストールしたら重すぎて動かないので削除する。

$ sudo apt autoremove sudo apt install ubuntu-desktop gnome-session-flashback xserver-xorg-video-fbturbo dphys-swapfile
$ sudo apt autoremove compiz*

ubuntuお勧めのxubuntu-desktopをインストールする。

$ sudo apt-get install xubuntu-desktop

sudo apt install ubuntu-desktop gnome-session-flashback xserver-xorg-video-fbturbo dphys-swapfile
Then add this to /etc/X11/xorg.conf (create if it doesn't already exist):
以下の内容でxorg.confを作成する。
Section "Device"
Identifier "Raspberry Pi FBDEV"
Driver "fbturbo"
Option "fbdev" "/dev/fb0"
Option "SwapbuffersWait" "true"
EndSection

To install Accelerated X driver

An accelerated x.org video driver is available (fbturbo), though this is limited to hardware accelerated window moving/scrolling on the Raspberry Pi. Install the optional PPA above, then:

$ sudo apt-get install xserver-xorg-video-fbturbo
  Then add this to /etc/X11/xorg.conf (create if it doesn't already exist):

Section "Device"
    Identifier "Raspberry Pi FBDEV"
    Driver "fbturbo"
    Option "fbdev" "/dev/fb0"
    Option "SwapbuffersWait" "true"
EndSection

To install VideoCore

As with Raspbian, VideoCore packages are available. Install the optional PPA above, then:

これらをインストールするとvcgencmdが使えるようになる。
$ sudo apt-get install libraspberrypi-bin libraspberrypi-dev
However, since these packages are compiled from source during build, the files are installed in their "proper" locations in /usr. Some third-party scripts may expect e.g. /opt/vc/bin/vcgencmd; if so, this hack should do it:
Rapberry Piのオリジナルカメラがある場合は、接続して以下を確認してみる。

$ vcgencmd get_camera
 supported=1 detected=1 <--- このように出力さえれればOK

 supported=0 detected=0 <--- こう出力された場合は、カメラが認識されていないので

/boot/firmware/config.txtの最後に以下の２行を追加後、リブートする。
 start_x=1
 gpu_mem=128
カメラの動作確認
$ raspistill -d

However, since these packages are compiled from source during build, the files are installed in their "proper" locations in /usr. Some third-party scripts may expect e.g. /opt/vc/bin/vcgencmd; if so, this hack should do it:
サードパーティーようにシンボリックリンクをはってっておく。
$ sudo ln -s /usr /opt/vc
(Raspbian packages use precompiled repositories during build, which install in /opt/vc.) vcdbg and edidparser are not part of the open source package and must be installed separately:

$ sudo apt-get install libraspberrypi-bin-nonfree

Wifi wlan0が認識されない

ここを参照させてもらったが、URLが変わっていたので以下の通り。
uname -a
Linux ubuntu 4.4.0-1086-raspi2 #94-Ubuntu SMP Wed Mar 14 09:29:41 UTC 2018 armv7l armv7l armv7l GNU/Linux

$ cd /lib/firmware/brcm/
$ sudo wget https://github.com/RPi-Distro/firmware-nonfree/blob/master/brcm/brcmfmac43430- sdio.bin
$ sudo wget https://github.com/RPi-Distro/firmware-nonfree/blob/master/brcm/brcmfmac43430- sdio.bin
$ sudo reboot
$ ifconfig
 eth0      Link encap:Ethernet  HWaddr b8:27:eb:4c:44:e2
           inet addr:192.168.11.13  Bcast:192.168.11.255  Mask:255.255.255.0
           inet6 addr: fe80::e47b:2c82:3bc1:4755/64 Scope:Link
           UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
           RX packets:22 errors:0 dropped:0 overruns:0 frame:0
           TX packets:41 errors:0 dropped:0 overruns:0 carrier:0
           collisions:0 txqueuelen:1000
           RX bytes:4123 (4.1 KB)  TX bytes:5843 (5.8 KB)

 lo        Link encap:Local Loopback
           inet addr:127.0.0.1  Mask:255.0.0.0
           inet6 addr: ::1/128 Scope:Host
           UP LOOPBACK RUNNING  MTU:65536  Metric:1
           RX packets:165 errors:0 dropped:0 overruns:0 frame:0
           TX packets:165 errors:0 dropped:0 overruns:0 carrier:0
           collisions:0 txqueuelen:1
           RX bytes:12085 (12.0 KB)  TX bytes:12085 (12.0 KB)

認識されない？？
ここからリンクをたどって
ここへhttps://www.raspberrypi.org/forums/viewtopic.php?f=28&t=141834#p1152584
でもってここからhttps://github.com/DougieLawson/RaspberryPi/tree/master/brcm
brcm.7zをダウンロードして解凍して

このディレクトリにあるファイルを全部/lib/firmware/brcm/にコピーする。
https://github.com/RPi-Distro/firmware-nonfree/tree/master/brcm

$ sudo cp brcm*.* /lib/firmware/brcm/
$ sudo  reboot

$ ifconfig
 eth0      Link encap:Ethernet  HWaddr b8:27:eb:4c:44:e2
           inet addr:192.168.11.13  Bcast:192.168.11.255  Mask:255.255.255.0
           inet6 addr: fe80::e47b:2c82:3bc1:4755/64 Scope:Link
           UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
           RX packets:161 errors:0 dropped:0 overruns:0 frame:0
           TX packets:52 errors:0 dropped:0 overruns:0 carrier:0
           collisions:0 txqueuelen:1000
           RX bytes:24125 (24.1 KB)  TX bytes:7037 (7.0 KB)

 lo        Link encap:Local Loopback
           inet addr:127.0.0.1  Mask:255.0.0.0
           inet6 addr: ::1/128 Scope:Host
           UP LOOPBACK RUNNING  MTU:65536  Metric:1
           RX packets:165 errors:0 dropped:0 overruns:0 frame:0
           TX packets:165 errors:0 dropped:0 overruns:0 carrier:0
           collisions:0 txqueuelen:1
           RX bytes:12085 (12.0 KB)  TX bytes:12085 (12.0 KB)

 wlan0     Link encap:Ethernet  HWaddr b8:27:eb:19:11:b7
           inet addr:192.168.11.11  Bcast:192.168.11.255  Mask:255.255.255.0
           inet6 addr: fe80::ba27:ebff:fe19:11b7/64 Scope:Link
           UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
           RX packets:527 errors:0 dropped:7 overruns:0 frame:0
           TX packets:445 errors:0 dropped:0 overruns:0 carrier:0
           collisions:0 txqueuelen:1000
          RX bytes:163766 (163.7 KB)  TX bytes:106717 (106.7 KB)

wlan0が認識された。
https://wiki.debian.org/WiFi/HowToUse#GNOME

#ubuntuでRaspberry Pi Camera moduleを使う
https://github.com/UbiquityRobotics/raspicam_node/tree/indigo_safe
cd catkin_ws/src
git clone https://github.com/UbiquityRobotics/raspicam_node.git
cd ../
catkin_make
-- +++ processing catkin package: 'raspicam_node'
-- ==> add_subdirectory(raspicam_node)
CMake Error at raspicam_node/CMakeLists.txt:39 (MESSAGE):
Could not find vchostif library

-- Configuring incomplete, errors occurred!
See also "/usb/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/usb/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
`sudo apt-get install libgeos-dev

ROS Kineticnをインストール

ROSでRaspberry Pi camera moduleをつかう。

元記事
https://github.com/UbiquityRobotics/raspicam_node

インストール順が重要
VideiCore -> ROS -> raspicam_node
この順でないとraspicam_nodeがbuild errorになる。

image_transport

$ rosrun image_transport republish theora in:=/raspicam_node/image raw out:=/raspicam_node/image_raw