I’ve seen a couple of posts about ROS2 Builds for the PiCar-X and Pi-Dog, thought it might be a good idea to group them here so we can share experiences.
I’ve been trying: danhermes/Nevil-picar-v2
Build but got stuck at 3. Install ROS2 on Raspberry Pi (ARM64), there is no start.py.
But i’m a noob at Python and github.
So what other ROS2 installs have people done and what success did you have with the onboard sensors. Have you extended to have other sensors.
Well here’s my build script for ros2 jazzy
Enjoy
#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
#####################################################################################
#ROS2 on Pi raspbian is not available from repos, 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
I’d suggest posting a bug on the github page regarding the missing start.py. Meanwhile the OLDstart.py looks like it should get you going.