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1.准备工作

1）环境： 树莓派4b 8GB arm64 平台硬件

2）下载官方 2022-04-04-raspios-bullseye-arm64.img.xz 镜像

3）烧录镜像至TF卡32GB上

2.系统构建

1）将烧录完的tf卡中的boot盘中的文件进行修改

windows cmd:

打开TF卡，文件boot 目录下建立文件

G:>type nul>ssh

G:>>>userconf set /p=“pi:6 66KORC/Q.jy9sfO4dY$Ng2/O021CmodjQ99aPm.kpG4s1ClxvfQN0UylymYN/AYGySUBV6mnPlLDD24YrckXldGR9ZWO3NvOazzNLhBe1” <nul

G:>>>wpa_supplicant.conf set /p="country=CN

ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev

update_config=1

" <nul

注意指令前的”G:>“ 系统自带字符

然后用notepad打开wpa_supplicant.conf 查看下文件，注意换行符

然后将TF卡插到树莓派上，开机启动。

后执行

G:>arp -a

接口: 192.168.193.137 — 0x13

Internet 地址 物理地址 类型

192.168.193.1 d4-ee-07-62-f5-76 动态

192.168.193.239 e4-5f-01-c2-98-51 动态

192.168.193.255 ff-ff-ff-ff-ff-ff 静态

192.168.193.239 树莓派 地址

2）ssh树莓派登陆

用户名：pi

密码：raspberry

3.正式动作

$ mkdir -p ~/ros2_rolling/src

$ cd ~/ros2_rolling

1）系统信息

pi@raspberrypi:~/ros2_rolling $ uname -a

Linux raspberrypi 5.15.32-v8+ #1538 SMP PREEMPT Thu Mar 31 19:40:39 BST 2022 aarch64 GNU/Linux

pi@raspberrypi:~/ros2_rolling $ lsb_release

No LSB modules are available.

pi@raspberrypi:~/ros2_rolling $ lsb_release -a

No LSB modules are available.

Distributor ID: Debian

Description: Debian GNU/Linux 11 (bullseye)

Release: 11

Codename: bullseye

pi@raspberrypi:~/ros2_rolling $

2）ros2 环境构建

$ locale

LANG=en_GB.UTF-8

LANGUAGE=

LC_CTYPE=“en_GB.UTF-8”

LC_NUMERIC=“en_GB.UTF-8”

LC_TIME=“en_GB.UTF-8”

LC_COLLATE=“en_GB.UTF-8”

LC_MONETARY=“en_GB.UTF-8”

LC_MESSAGES=“en_GB.UTF-8”

LC_PAPER=“en_GB.UTF-8”

LC_NAME=“en_GB.UTF-8”

LC_ADDRESS=“en_GB.UTF-8”

LC_TELEPHONE=“en_GB.UTF-8”

LC_MEASUREMENT=“en_GB.UTF-8”

LC_IDENTIFICATION=“en_GB.UTF-8”

LC_ALL=

$ apt-cache policy | grep universe

此处信息不必对照官网

$ vi /etc/apt/sources.list

aarch64 用户：编辑 /etc/apt/sources.list 文件，用以下内容取代：

默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释

deb https://mirrors.tuna.tsinghua.edu.cn/debian/ bullseye main contrib non-free

deb-src https://mirrors.tuna.tsinghua.edu.cn/debian/ bullseye main contrib non-free

deb https://mirrors.tuna.tsinghua.edu.cn/debian/ bullseye-updates main contrib non-free

deb-src https://mirrors.tuna.tsinghua.edu.cn/debian/ bullseye-updates main contrib non-free

deb https://mirrors.tuna.tsinghua.edu.cn/debian/ bullseye-backports main contrib non-free

deb-src https://mirrors.tuna.tsinghua.edu.cn/debian/ bullseye-backports main contrib non-free

deb https://mirrors.tuna.tsinghua.edu.cn/debian-security bullseye-security main contrib non-free

deb-src https://mirrors.tuna.tsinghua.edu.cn/debian-security bullseye-security main contrib non-free

$ sudo apt update

$ sudo apt upgrade

$ sudo apt install software-properties-common

$ sudo apt update && sudo apt install curl gnupg lsb-release

$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

$ echo “deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/ lsb_release -cs main” | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

$ sudo apt update && sudo apt install -y \

build-essential \

cmake \

git \

python3-colcon-common-extensions \

python3-flake8 \

python3-flake8-blind-except \

python3-flake8-builtins \

python3-flake8-class-newline \

python3-flake8-comprehensions \

python3-flake8-deprecated \

python3-flake8-docstrings \

python3-flake8-import-order \

python3-flake8-quotes \

python3-pip \

python3-pytest \

python3-pytest-cov \

python3-pytest-repeat \

python3-pytest-rerunfailures \

python3-rosdep \

python3-setuptools \

python3-vcstool \

wget

(this command can altenative by below :

$ sudo apt update && sudo apt install -y

build-essential

cmake

git

python3-colcon-common-extensions

python3-flake8

python3-pip

python3-pytest

python3-pytest-cov

python3-pytest-rerunfailures

python3-rosdep

python3-setuptools

python3-vcstool

wget

$ pip install -i https://pypi.tuna.tsinghua.edu.cn/simple \

flake8-blind-except \

flake8-builtins \

flake8-class-newline \

flake8-comprehensions \

flake8-deprecated \

flake8-docstrings \

flake8-import-order \

flake8-quotes \

pytest-repeat

)

$ sudo rosdep init

(please copy pre-downloade rosdistro/ into ~/)

$ sudo vi /home/pi/rosdistro/rosdep/sources.list.d/20-default.list

{ # os-specific listings first yaml file:///home/pi/rosdistro/rosdep/osx-homebrew.yaml osx # generic yaml file:///home/pi/rosdistro/rosdep/base.yaml yaml file:///home/pi/rosdistro/rosdep/python.yaml yaml file:///home/pi/rosdistro/rosdep/ruby.yaml gbpdistro file:///home/pi/rosdistro/releases/fuerte.yaml fuerte # newer distributions (Groovy, Hydro, …) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead }

$ sudo vi /etc/ros/rosdep/sources.list.d/20-default.list

{ # os-specific listings first yaml file:///home/pi/rosdistro/rosdep/osx-homebrew.yaml osx # generic yaml file:///home/pi/rosdistro/rosdep/base.yaml yaml file:///home/pi/rosdistro/rosdep/python.yaml yaml file:///home/pi/rosdistro/rosdep/ruby.yaml gbpdistro file:///home/pi/rosdistro/releases/fuerte.yaml fuerte # newer distributions (Groovy, Hydro, …) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead }

$ sudo vi /usr/lib/python3/dist-packages/rosdep2/sources_list.py

DEFAULT_SOURCES_LIST_URL = ‘file:///home/pi/rosdistro/rosdep/sources.list.d/20-default.list’

$ sudo vi /usr/lib/python3/dist-packages/rosdistro/init.py

DEFAULT_INDEX_URL = ‘file:///home/pi/rosdistro/index-v4.yaml’

$ sudo vi /usr/lib/python3/dist-packages/rosdep2/rep3.py

REP3_TARGETS_URL = ‘file:///home/pi/rosdistro/releases/targets.yaml’

$ rosdep update

$ wget https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos

$ vcs import src < ros2.repos

{windows shell > vcs import --input ros2.rpos src here, you can pre-download ros2 rolling package into src/ pi@raspberrypi:~/ros2_rolling $ ls src ament eclipse-iceoryx ignition ros ros-perception ros-tooling sllidar_ros2 eclipse-cyclonedds eProsima osrf ros2 ros-planning ros-visualization pi@raspberrypi:~/ros2_rolling $ }

(try below command ,

rosdep install --from-paths src --ignore-src -y --skip-keys “ignition-cmake2 ignition-math6 fastcdr rti-connext-dds-6.0.1 urdfdom_headers”

it will trigger warnning

#ignition-cmake2 ignition-math6 can’t support os debian , ok then skip it

)

$ rosdep install --from-paths src --ignore-src -y --skip-keys “ignition-cmake2 ignition-math6 fastcdr rti-connext-dds-6.0.1 urdfdom_headers”

{ it will be trgger some error ,so you install it manuelly, then excute it continue. after a long time … }

$ cd ~/ros2_rolling/

$ colcon build --symlink-install

(please keep connectting net fluently and your patient for a long long time

if you can’t , you can donwnload some pakage into build/ souce , bless you

)

…

{ $ colcon build --packages-select sllidar_ros2 (build special package) }

test ros2 rolling envirenment

first terminal

$ . ~/ros2_rolling/install/local_setup.bash

ros2 run demo_nodes_cpp talker

second terminal

$ . ~/ros2_rolling/install/local_setup.bash

ros2 run demo_nodes_py listener

then you can excute talker on raspberry 4b board and excute listener on a ubuntu host terminal

of course you must be in a same real net