/raspi_cross_ros2

Primary LanguageCMake

ROS2 Cross-Compilation for RasPi Zero [W]

The instruction is based on E-Puck with some modifications for ROS2 humble on RasPi OS Bullseye.

Get the Code

git clone --recursive https://github.com/nyacpp/raspi_cross_ros2.git

RasPi Dependencies

Install armhf libraries on RasPi.

sudo apt install \
    liblog4cxx-dev \
    python3-dev \
    python3-lark \
    python3-netifaces \
    python3-numpy \
    python3-pybind11 \
    python3-yaml

Copy them and system libraries to your Ubuntu PC:

rsync -rlu --del --copy-unsafe-links --info=progress2 pi@<rpi>:/{lib,usr} ~/raspi

ROS2 Build

Build and run docker container:

docker compose build
docker compose run --rm main

Inside the docker, clone ROS2 repositories:

piinit

Build needed packages.

  • Examples:
pibuild --packages-up-to dummy_robot_bringup ros2cli_common_extensions demo_nodes_cpp demo_nodes_py
pibuild --packages-select rclcpp
pibuild --continue-on-error --parallel-workers 4

Copy ros workspace back to RasPi (either from Ubuntu or from Docker):

rsync -rlu --del --info=progress2 ~/ros_humble/install/ pi@<rpi>:/home/pi/ros_humble/install/

Test

On your RasPi:

. ros2/setup.bash
ros2 run demo_nodes_cpp talker
# or
ros2 run demo_nodes_py talker

Each second a line of text should be printed.

Try to receive the messages on another PC in the same LAN:

ros2 run demo_nodes_cpp listener
# or
ros2 run demo_nodes_py listener