ros2-raspberrypi

Docker environment for cross compiling ROS2 Bouncy for Raspberry Pi

Build instructions

Get a RaspberryPi Raspbian Stretch sysroot.

$ bash create_sysroot.sh

If you want to add a specific dependency, you can do it in Dockerfile_sysroot.

If you already have your own sysroot, you can use it. You only have to rename it ros2-raspbian-rootfs. If you experience any build issue, try again using the sysroot created by the provided bash script.

Get the ROS2 sources

$ cd ros2_ws
$ mkdir src
$ wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
$ vcs import src < ros2.repos

Ignore some packages

$ touch \
    src/ros2/ros1_bridge/COLCON_IGNORE \
    src/ros2/rviz/COLCON_IGNORE \
    src/ros2/urdfdom/COLCON_IGNORE \
    src/ros2/urdf/COLCON_IGNORE \
    src/ros2/kdl_parser/COLCON_IGNORE \
    src/ros/resource_retriever/COLCON_IGNORE \
    src/ros2/robot_state_publisher/COLCON_IGNORE \
    src/ros2/demos/COLCON_IGNORE

Cross-compile ROS2 Bouncy

$ cd ..
$ bash build_ros2_raspberry.sh

This last command will mount the ros2_ws directory as a volume. You will find the compiled SDK inside that folder.

Usage

Copy the SDK to the Raspberry

$ rsync -avz -e 'ssh -o StrictHostKeyChecking=no -o UserKnownHostsFile=/dev/null' --progress ros2_ws/install pi@192.168.0.147:/home/pi/ros2_bouncy_sdk

Check the IP address of your Raspberry Pi and the path where you want to copy the SDK.

Source ROS2 SDK

$ export COLCON_CURRENT_PREFIX=/home/pi/ros2_bouncy_sdk/install
$ source /home/pi/ros2_bouncy_sdk/install/setup.sh

Run publisher node

$ ros2 run examples_rclcpp_minimal_publisher publisher_lambda

Missing features

• libc6.so error when building packages depending on vc and libmmal