/rpi-bullseye-ros2

ROS2-Humble for Raspbian-bullseye

Primary LanguageCMakeMIT LicenseMIT

Raspberry Pi OS ROS2

Build ROS2 for Raspbian


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Latest : ros2-0.3.2

ros2-0.3.2

Distro Debian arm64-desktop arm64-full
iron bullseye URL
iron bookworm URL
humble bullseye URL

Install (bullseye)

  • OS : RaspberryPi OS bullseye arm64
  • ROS2 : ROS2 Humble
wget https://github.com/Ar-Ray-code/rpi-bullseye-ros2/releases/download/ros2-0.3.1/ros-humble-desktop-0.3.1_20221218_arm64.deb
sudo apt install ./ros-humble-desktop-0.3.1_20221218_arm64.deb
sudo pip install vcstool colcon-common-extensions

Install (bookworm)

  • OS : RaspberryPi OS bookworm arm64
  • ROS2 : ROS2 Iron

When using Rviz2, switch the display server from Wayland to X11.

wget https://s3.ap-northeast-1.wasabisys.com/download-raw/dpkg/ros2-desktop/debian/bookworm/ros-iron-desktop-0.3.2_20231028_arm64.deb
sudo apt install ./ros-iron-desktop-0.3.2_20231028_arm64.deb
sudo pip install --break-system-packages vcstool colcon-common-extensions

Uninstall

sudo apt remove ros-${DISTRO}-desktop
# e.g. sudo apt remove ros-humble-desktop

Load ROS2

source /opt/ros/${DISTRO}/setup.bash
# e.g. source /opt/ros/humble/setup.bash

ros2-0.2.0

ros2-0.2.0

Distro aarch64
humble ✔
galactic

Install

  • OS : RaspberryPi OS bullseye aarch64
  • ROS2 : ROS2 Humble
# (humble, aarch64)
curl -O https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/install.bash
# bash install.bash <distro> <arch> <version> <install-dir>
bash install.bash humble aarch64 0.2.0 /opt/ros

ros2-0.1.0

ros2-0.1.0

❌ Excluded packages ❌

  • RViz
  • rosbag
  • rqt

Distro aarch64 arm7l
humble ✔ ✔
galactic ✔

Install

  • OS : RaspberryPi OS bullseye aarch64
  • ROS2 : ROS2 Humble
# (humble, aarch64)
wget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/install.bash
bash install.bash humble aarch64 0.1.0 /opt/ros

# galactic, arm7l
# bash install.bash galactic arm7l 0.1.0 /opt/ros

Load ROS2

source /opt/ros/humble/setup.bash


Build ROS2


Cross compile 🛠️


Cases

If rpi-bullseye-ros2 has made your project work, please let me know!✨

URL
ROS-With-Arducam-ToF-Camera (arducam) URL
CoRE2024 AutoRobot team firmware scramble-robot/CoRE_AutoRobot_2024_raspberrypi

About author


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このプロジェクトは学生向けの軽量なROS2環境を提供するためにあります。 あなたがもしこのプロジェクトに助けられた場合、その助けを継続する支援をお願いします。

This project is to provide a lightweight ROS2 environment for students. If you have been helped by this project, please help us continue that help.

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