Using:
- Yocto Kirkstone
- ROS2 Galactic
git clone https://github.com/floroeske/raspberrypi-yocto-ros2-example.git
cd raspberrypi-yocto-ros2-example
git submodule init
git submodule update
cd ./poky
source oe-init-build-env
cd ../..
./create-bitbake-conf.sh
The first build takes a long time. The build is cached in ~/cache (this can be changed in local.conf). The Yocto cache can get quite large (~15GB).
bitbake core-image-minimal
A successful build will create a 'core-image-minimal-raspberrypi3-64-*.rootfs.wic.bz2' image file in './poky/build/tmp/deploy/images/raspberrypi3-64/' which contains an image file which can be written to a SD card and booted.