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https://github.com/ar-ray-code/rpi-bullseye-ros2

ROS2-Jazzy for Raspbian-bookworm
https://github.com/ar-ray-code/rpi-bullseye-ros2

bookworm bullseye debian humble iron jazzy raspberry-pi raspbian ros2

Last synced: 2 days ago
JSON representation

ROS2-Jazzy for Raspbian-bookworm

Host: GitHub
URL: https://github.com/ar-ray-code/rpi-bullseye-ros2
Owner: Ar-Ray-code
License: mit
Created: 2022-03-03T11:51:22.000Z (almost 3 years ago)
Default Branch: jazzy
Last Pushed: 2024-08-19T11:18:30.000Z (6 months ago)
Last Synced: 2025-01-28T19:12:16.514Z (10 days ago)
Topics: bookworm, bullseye, debian, humble, iron, jazzy, raspberry-pi, raspbian, ros2
Language: CMake
Homepage: https://zenn.dev/array/books/raspi_os_de_hajimeru_ros2_2
Size: 788 KB
Stars: 102
Watchers: 7
Forks: 21
Open Issues: 2
Metadata Files:
- Readme: README.md
- Funding: .github/FUNDING.yml
- License: LICENSE

Awesome Lists containing this project

README

        # Raspberry Pi OS ROS2

Build ROS2 for Raspbian

## Books📚

- 🆕 [RaspberryPi OSではじめるROS 2 ② (Zenn)](https://zenn.dev/array/books/raspi_os_de_hajimeru_ros2_2)

- [RaspberryPi OSではじめるROS2 (Zenn)](https://zenn.dev/array/books/5efdb438cf8be3)




![](./images_for_readme//rviz_rpi.jpg)




## Support

### Latest : ros2-0.3.2

[ros2-0.3.2](https://github.com/Ar-Ray-code/rpi-bullseye-ros2/releases/tag/ros2-0.3.2)

| Distro | Debian | arm64-desktop | arm64-full |

| --- | --- | --- | --- |

| 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) |

| 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)

| 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)

| 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)

### Install (bullseye)

- OS   : RaspberryPi OS bullseye arm64

- ROS2 : ROS2 Humble

```bash

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 jazzy

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

```bash

wget https://s3.ap-northeast-1.wasabisys.com/download-raw/dpkg/ros2-desktop/debian/bookworm/ros-jazzy-desktop-0.3.2_20240525_arm64.deb

sudo apt install ./ros-jazzy-desktop-0.3.2_20240525_arm64.deb

sudo pip install --break-system-packages vcstool colcon-common-extensions

```

## Uninstall

```bash

sudo apt remove ros-${DISTRO}-desktop

# e.g. sudo apt remove ros-humble-desktop

```




### Load ROS2

```bash

source /opt/ros/${DISTRO}/setup.bash

# e.g. source /opt/ros/humble/setup.bash

```




ros2-0.2.0

[ros2-0.2.0](https://github.com/Ar-Ray-code/rpi-bullseye-ros2/releases/tag/ros2-0.2.0)

| Distro | aarch64 |

| --- | --- |

| humble | ✔ |

| galactic | |

### Install

- OS   : RaspberryPi OS bullseye aarch64

- ROS2 : ROS2 Humble

```bash

# (humble, aarch64)

curl -O https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/install.bash

# bash install.bash    

bash install.bash humble aarch64 0.2.0 /opt/ros

```




ros2-0.1.0




[ros2-0.1.0](https://github.com/Ar-Ray-code/rpi-bullseye-ros2/releases/tag/ros2-0.1.0)

### ❌ Excluded packages ❌

- RViz

- rosbag

- rqt




| Distro | aarch64 | arm7l |

| --- | --- | --- |

| humble | ✔ | ✔ |

| galactic | | ✔ |

### Install

- OS   : RaspberryPi OS bullseye aarch64

- ROS2 : ROS2 Humble

```bash

# (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

```bash

source /opt/ros/humble/setup.bash

```







## Build ROS2

- [README](./build/README.md)




## Cross compile 🛠️

- [Ar-Ray-code/rpi-bullseye-ros2-xcompile](https://github.com/Ar-Ray-code/rpi-bullseye-ros2-xcompile)




## Cases

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

| | URL |

| --- | --- |

| ROS-With-Arducam-ToF-Camera (arducam) | [URL](https://docs.arducam.com/Raspberry-Pi-Camera/Tof-camera/ROS-With-Arducam-ToF-Camera)

| CoRE2024 AutoRobot team firmware | [scramble-robot/CoRE_AutoRobot_2024_raspberrypi](https://github.com/scramble-robot/CoRE_AutoRobot_2024_raspberrypi) |




## About author

- author : [Ar-Ray](https://github.com/Ar-Ray-code)

- [X (Twitter)](https://twitter.com/Ray255Ar)




## Support me!

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 envjazzyment for students.

If you have been helped by this project, please help us continue that help.

[sponsors/Ar-Ray-code](https://github.com/sponsors/Ar-Ray-code?preview=true)