I wanna now if when or is ubuntu serve 24.04 lts usable for the sunfounder robot hat if possible?
Very sorry, but currently have no idea to make Ubuntu system compatible with Robot Hat.
thats okay thanks for replying
I have ported picar-x to run on Ubuntu server 24.04. Most of the example codes run successfully. I also have example robot code using ros2 jazzy. The port is not complete (no support for pi camera (picamera)). I’ve documented the changes and installation procedure.
Hi, I added picamera ros2 jazzy support previously ( for orbslam3). Was humble but since updated to jazzy. Note this is running on raspbian not ubuntu
If you’d like to collaborate then maybe we could share notes at some time?
Definitely. I did a partial port of the picar-x to ros2 on raspberry pi os. Had lots of issues finding ros2 dependencies. In particular I couldn’t find buildable joystick control code.
I did a raspbian jazzy build from source last week. I’ll post my script here when I get back to my computer. It’s quite short, but with a couple of important tweaks.
I did my ros joystick build on humble, so it may or may not still work, not sure.
My joystick build should be on an old sd card somewhere. I’ll see if I can find it.
I’m not doing ros stuff at present, focussing on different autonomy models instead. Hopefully when I’ve learned a bit more about them I may integrate into ROS, TBD.
#If you wish to try a raspbian build then my ros2 jazzy build script is below, or just stick with Ubuntu if it’s working fine already.
#Usual to ensure all upto date
sudo apt update
sudo apt upgrade
#I like vim! But please swap for favorite editor
sudo apt install vim
#Max out everything for swap!
#increase swap space (allocate more if needed): and zram compression
sudo apt install zram-tools
sudo dphys-swapfile swapoff
##Edit to increase swap as needed I used 8g on a 4g pi4
sudo vim /etc/dphys-swapfile
#AND SAME FOR I used 8g
sudo vim /sbin/dphys-swapfile
sudo dphys-swapfile setup
sudo dphys-swapfile swapon
sudo reboot now
#####################################################################################
#Installing ROS2
#Directly installing ROS2 on Pi raspbian is not possible; it must be built from source. as below
sudo apt install -y git colcon python3-rosdep2 vcstool wget python3-flake8-docstrings python3-pip python3-pytest-cov python3-flake8-blind-except python3-flake8-builtins python3-flake8-class-newline python3-flake8-comprehensions python3-flake8-deprecated python3-flake8-import-order python3-flake8-quotes python3-pytest-repeat python3-pytest-rerunfailures python3-vcstools libx11-dev libxrandr-dev libasio-dev libtinyxml2-dev
mkdir -p ~/ros2_jazzy/src
cd ~/ros2_jazzy # important NOT the src subdirectory created above, but this parent.
#This seems to be a very unreliable link, may need to run several times until no more “E”'s
##Otherwise can get missing libraries etc
vcs import --input https://raw.githubusercontent.com/ros2/ros2/jazzy/ros2.repos src
sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
sudo apt upgrade
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro jazzy -y --skip-keys “fastcdr rti-connext-dds-6.0.1 urdfdom_headers python3-vcstool”
#This takes about 8 hours on rpi4 4Gb. could even freeze due to memory problems, just rerun. Reduce/increase parallel workers if you have less/more memory than my 4GB
colcon build --symlink-install --parallel-workers 2
echo “source ~/ros2_jazzy/install/local_setup.bash” >> ~/.bashrc
source ~/.bashrc
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I think I I got my joystick drivers from here
`https://app.circleci.com/pipelines/github/ros-drivers/joystick_drivers `
Then just wrote my own listener node
do you got a link for it?