My implementation based on work from the Exomy 3D printed rover project
- Raspberry Pi 4 suggest at least 4GB
- 128 GB SD card
- Ubuntu 20.04 LTS
- ROS2 Galactic
- Logitech F710 gamepad
- Download 20.04 Server LTS https://ubuntu.com/download/raspberry-pi
- Install ubuntu using the Raspberry Pi Imager. Here is a link to the official Ubuntu site with a walk-through How to install Ubuntu Server on your Raspberry Pi.
- I went ahead and installed the minimal desktop after getting the RPI on my local network. Then I disabled it as it was in the way for what I wanted to accomplish.
- Make sure the SSH is enabled. You will need it later if not immediately to do the next steps.
- Install Docker: How to Install Docker on Raspberry Pi 4
- Login to docker:
$ docker login
- Build the base and the primary
docker build -t xmo_base:latest ~/repos/Xmo/source/docker/xmo_base
docker build -t xmo:latest ~/repos/Xmo/source/docker/xmo
- These should be available as a public repo on docker hub at some point in this with a release.
You will probably want to do the following on desktop where you have multiple terminal windows open at the same time.
- Get a shell on the RPI
- Execute the following command:
docker run --rm -it --name ros-test1 -h ros2-1 --network="host" --pid=host --privileged xmo:latest
- you should now have a prompt in the ROS2 contianer.
- Get another shell on the RPI.
- Execute the follwoing command:
docker run --rm -it --name ros-test2 -h ros2-2 --network="host" --pid=host --privileged xmo:latest
- In one of the terminals execute the following command:
ros2 run demo_nodes_cpp talker
- In the other terminal excute the following command:
ros2 run demo_nodes_py listener
You should now have a talker and the listener communicating with each other. You can now exit both terminals by whichever means you desire.
Follow the install using the guide from ros.org Installing ROS 2 on Windows
I chose to put the base install in c:\dev\ros2_galactic. I had some space issues and installed the Qt libraries on d:\Qt.
I only had one major problem with the install. It is documented in the forms qt.qpa.plugin: Could not find the Qt platform plugin "windows" in ""
I solved the error with the following environment settings:
QT_QPA_PLATFORM_PLUGIN_PATH = C:\dev\ros2_galactic\bin\platforms
Qt5_DIR = D:\Qt\5.15.0\msvc2019_64
Update your environment with the following:
ROS_DOMAIN_ID = 27
- Install WSL2
- Ubuntu
sudo apt update
sudo apt dist-upgrade
sudo apt
Source for this: https://www.linux.com/topic/desktop/how-install-docker-ce-your-desktop/ and Preference to this link https://medium.com/@mikejohanson/running-docker-ce-in-wsl2-ed74dac32782