builder: Use 64-bit Raspberry Pi OS

builder/image-build.sh

@@ -15,7 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_arm64/images/raspios_lite_arm64-2020-08-24/2020-08-20-raspios-buster-arm64-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}

builder/image-init.sh

@@ -55,7 +55,4 @@ echo_stamp "Set max space for syslogs"
 # https://unix.stackexchange.com/questions/139513/how-to-clear-journalctl
 sed -i 's/#SystemMaxUse=/SystemMaxUse=200M/' /etc/systemd/journald.conf
 
-echo_stamp "Move /etc/ld.so.preload out of the way"
-mv /etc/ld.so.preload /etc/ld.so.preload.disabled-for-build
-
 echo_stamp "End of init image"

builder/image-ros.sh

@@ -83,11 +83,11 @@ git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
 # Don't try to install gazebo_ros
-my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro melodic --os=debian:buster \
+my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro noetic --os=debian:buster \
   --skip-keys=gazebo_ros --skip-keys=gazebo_plugins
 my_travis_retry pip install wheel
 my_travis_retry pip install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
-source /opt/ros/melodic/setup.bash
+source /opt/ros/noetic/setup.bash
 # Don't build simulation plugins for actual drone
 catkin_make -j2 -DCMAKE_BUILD_TYPE=Release -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
 
@@ -105,14 +105,14 @@ touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/w
 
 echo_stamp "Installing additional ROS packages"
 my_travis_retry apt-get install -y --no-install-recommends \
-    ros-melodic-dynamic-reconfigure \
-    ros-melodic-compressed-image-transport \
-    ros-melodic-rosbridge-suite \
-    ros-melodic-rosserial \
-    ros-melodic-usb-cam \
-    ros-melodic-vl53l1x \
-    ros-melodic-ws281x \
-    ros-melodic-rosshow
+    ros-noetic-dynamic-reconfigure \
+    ros-noetic-compressed-image-transport \
+    ros-noetic-rosbridge-suite \
+    ros-noetic-rosserial \
+    ros-noetic-usb-cam \
+    ros-noetic-vl53l1x \
+    ros-noetic-ws281x \
+    ros-noetic-rosshow
 
 # TODO move GeographicLib datasets to Mavros debian package
 echo_stamp "Install GeographicLib datasets (needed for mavros)" \

builder/image-software.sh

@@ -96,9 +96,7 @@ dnsmasq  \
 tmux \
 vim \
 cmake \
-libjpeg8 \
 tcpdump \
-ltrace \
 libpoco-dev \
 libzbar0 \
 python-rosdep \
@@ -151,11 +149,11 @@ systemctl enable monkey.service
 
 echo_stamp "Install Node.js"
 cd /home/pi
-wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
-tar -xzf node-v10.15.0-linux-armv6l.tar.gz
-cp -R node-v10.15.0-linux-armv6l/* /usr/local/
-rm -rf node-v10.15.0-linux-armv6l/
-rm node-v10.15.0-linux-armv6l.tar.gz
+wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-arm64.tar.gz
+tar -xzf node-v10.15.0-linux-arm64.tar.gz
+cp -R node-v10.15.0-linux-arm64/* /usr/local/
+rm -rf node-v10.15.0-linux-arm64/
+rm node-v10.15.0-linux-arm64.tar.gz
 
 echo_stamp "Installing ptvsd"
 my_travis_retry pip install ptvsd

builder/image-validate.sh

@@ -26,6 +26,3 @@ cd /home/pi/catkin_ws/src/clover/builder/test/
 ./tests.py
 ./tests_py3.py
 [[ $(./tests_clever.py) == "Warning: clever package is renamed to clover" ]]  # test backwards compatibility
-
-echo "Move /etc/ld.so.preload back to its original position"
-mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload