{"id":22306244,"url":"https://github.com/ar-ray-code/rpi-bullseye-ros2","last_synced_at":"2025-04-06T04:08:59.323Z","repository":{"id":39669918,"uuid":"465698137","full_name":"Ar-Ray-code/rpi-bullseye-ros2","owner":"Ar-Ray-code","description":"ROS2-Jazzy for 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Raspberry Pi OS ROS2\n\nBuild ROS2 for Raspbian\n\n\n## Books📚\n\n- 🆕 [RaspberryPi OSではじめるROS 2 ② (Zenn)](https://zenn.dev/array/books/raspi_os_de_hajimeru_ros2_2)\n- [RaspberryPi OSではじめるROS2 (Zenn)](https://zenn.dev/array/books/5efdb438cf8be3)\n\n\u003cbr\u003e\n\n![](./images_for_readme//rviz_rpi.jpg)\n\n\n\u003cbr\u003e\n\n## Support\n\n### Latest : ros2-0.3.2\n\n[ros2-0.3.2](https://github.com/Ar-Ray-code/rpi-bullseye-ros2/releases/tag/ros2-0.3.2)\n\n| Distro | Debian | arm64-desktop | arm64-full |\n| --- | --- | --- | --- |\n| jazzy | bookworm | [URL](https://s3.ap-northeast-1.wasabisys.com/download-raw/dpkg/ros2-desktop/debian/bookworm/ros-jazzy-desktop-0.3.2_20240525_arm64.deb) |\n| iron | bullseye | [URL](https://s3.ap-northeast-1.wasabisys.com/download-raw/dpkg/ros2-desktop/debian/bullseye/ros-iron-desktop-0.3.2_20230611_arm64.deb)\n| iron | bookworm | [URL](https://s3.ap-northeast-1.wasabisys.com/download-raw/dpkg/ros2-desktop/debian/bookworm/ros-iron-desktop-0.3.2_20231028_arm64.deb)\n| humble | bullseye | [URL](https://s3.ap-northeast-1.wasabisys.com/download-raw/dpkg/ros2-desktop/debian/bullseye/ros-humble-desktop-0.3.1_arm64.deb)\n\n### Install (bullseye)\n\n- OS   : RaspberryPi OS bullseye arm64\n- ROS2 : ROS2 Humble\n\n```bash\nwget https://github.com/Ar-Ray-code/rpi-bullseye-ros2/releases/download/ros2-0.3.1/ros-humble-desktop-0.3.1_20221218_arm64.deb\nsudo apt install ./ros-humble-desktop-0.3.1_20221218_arm64.deb\nsudo pip install vcstool colcon-common-extensions\n```\n\n### Install (bookworm)\n\n- OS   : RaspberryPi OS bookworm arm64\n- ROS2 : ROS2 jazzy\n\n\u003e When using Rviz2, switch the display server from Wayland to X11.\n\n\n\n```bash\nwget https://s3.ap-northeast-1.wasabisys.com/download-raw/dpkg/ros2-desktop/debian/bookworm/ros-jazzy-desktop-0.3.2_20240525_arm64.deb\nsudo apt install ./ros-jazzy-desktop-0.3.2_20240525_arm64.deb\nsudo pip install --break-system-packages vcstool colcon-common-extensions\n```\n\n## Uninstall\n\n```bash\nsudo apt remove ros-${DISTRO}-desktop\n# e.g. sudo apt remove ros-humble-desktop\n```\n\n\u003cbr\u003e\n\n### Load ROS2\n\n```bash\nsource /opt/ros/${DISTRO}/setup.bash\n# e.g. source /opt/ros/humble/setup.bash\n```\n\n\u003cbr\u003e\n\n\u003cdetails\u003e\u003csummary\u003eros2-0.2.0\u003c/summary\u003e\n\n[ros2-0.2.0](https://github.com/Ar-Ray-code/rpi-bullseye-ros2/releases/tag/ros2-0.2.0)\n\n| Distro | aarch64 |\n| --- | --- |\n| humble | ✔ |\n| galactic | |\n\n### Install\n\n- OS   : RaspberryPi OS bullseye aarch64\n- ROS2 : ROS2 Humble\n\n```bash\n# (humble, aarch64)\ncurl -O https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/install.bash\n# bash install.bash \u003cdistro\u003e \u003carch\u003e \u003cversion\u003e \u003cinstall-dir\u003e\nbash install.bash humble aarch64 0.2.0 /opt/ros\n```\n\n\u003cbr\u003e\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\u003csummary\u003eros2-0.1.0\u003c/summary\u003e\n\n\u003cbr\u003e\n\n[ros2-0.1.0](https://github.com/Ar-Ray-code/rpi-bullseye-ros2/releases/tag/ros2-0.1.0)\n\n\n### ❌ Excluded packages ❌\n\n- RViz\n- rosbag\n- rqt\n\n\u003cbr\u003e\n\n| Distro | aarch64 | arm7l |\n| --- | --- | --- |\n| humble | ✔ | ✔ |\n| galactic | | ✔ |\n\n### Install\n\n- OS   : RaspberryPi OS bullseye aarch64\n- ROS2 : ROS2 Humble\n\n```bash\n# (humble, aarch64)\nwget https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/install.bash\nbash install.bash humble aarch64 0.1.0 /opt/ros\n\n# galactic, arm7l\n# bash install.bash galactic arm7l 0.1.0 /opt/ros\n```\n\n### Load ROS2\n\n```bash\nsource /opt/ros/humble/setup.bash\n```\n\n\u003cbr\u003e\n\n\u003c/details\u003e\n\n\u003cbr\u003e\n\n\n## Build ROS2\n\n- [README](./build/README.md)\n\n\u003cbr\u003e\n\n## Cross compile 🛠️\n\n- [Ar-Ray-code/rpi-bullseye-ros2-xcompile](https://github.com/Ar-Ray-code/rpi-bullseye-ros2-xcompile)\n\n\u003cbr\u003e\n\n## Cases\n\nIf rpi-bullseye-ros2 has made your project work, please let me know!✨\n\n| | URL |\n| --- | --- |\n| ROS-With-Arducam-ToF-Camera (arducam) | [URL](https://docs.arducam.com/Raspberry-Pi-Camera/Tof-camera/ROS-With-Arducam-ToF-Camera)\n| CoRE2024 AutoRobot team firmware | [scramble-robot/CoRE_AutoRobot_2024_raspberrypi](https://github.com/scramble-robot/CoRE_AutoRobot_2024_raspberrypi) |\n| RPi5 + Hailo-8 application exampoles | [kyrikakis/hailo_tappas_ros2](https://github.com/kyrikakis/hailo_tappas_ros2) |\n\n\u003cbr\u003e\n\n## About author\n\n- author : [Ar-Ray](https://github.com/Ar-Ray-code)\n- [X (Twitter)](https://twitter.com/Ray255Ar)\n\n\u003cbr\u003e\n\n## Support me!\n\n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。\n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。\n\nThis project is to provide a lightweight ROS2 envjazzyment for students.\nIf you have been helped by this project, please help us continue that help.\n\n[sponsors/Ar-Ray-code](https://github.com/sponsors/Ar-Ray-code?preview=true)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Far-ray-code%2Frpi-bullseye-ros2","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Far-ray-code%2Frpi-bullseye-ros2","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Far-ray-code%2Frpi-bullseye-ros2/lists"}