Install ROS2 on Raspberry Pi 5

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Install ROS2 on Raspberry Pi 5

Install Docker on Raspberry Pi

Before installing ROS2, you first need to install Docker on your Raspberry Pi 5. Docker is a containerization platform that allows running applications in isolated environments called containers.

Update your system

Ensure your system is up to date.

sudo apt-get update
sudo apt-get upgrade

Install Docker

Download and install Docker.

curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh

Add Permission to Pi User

Add the default pi user to the Docker group to run Docker commands without sudo.

sudo usermod -aG docker pi

Test Docker Installation

Verify that Docker is installed correctly by running the hello-world image.

docker run hello-world

Reboot

Reboot your Raspberry Pi to ensure all changes are applied.

sudo reboot

Install ROS2 inside Docker

Once Docker is installed, you can install ROS2 in a Docker container. Use the following command:

docker run --name ros2_humble -h ros2dk --network host -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -v /home/cooneo/Desktop/pico_ws --device /dev/gpiomem --device /dev/i2c-1 --device /dev/ttyACM0 --device /dev/ttyUSB0 --privileged -e TZ=Asia/HongKong -d -it ros:humble

This command creates a Docker container named ros2_humble with configurations such as:

• Hostname set to ros2dk.
• Host networking enabled.
• X11 UNIX socket and local workspace directory mounted.
• Raspberry Pi's hardware interfaces accessible.
• Timezone set to Asia/Hong Kong.
• Container runs in detached, interactive mode.
• Based on the ros:humble image.

Install Rviz2 & Configure Display

To use Rviz2 and other desktop applications like Rqt within the Docker container, follow these steps:

Access the Container

docker exec -it ros2_humble /bin/bash

Install Rviz2 and Rqt

If not already installed in the ros:humble image, install them.

sudo apt-get update
sudo apt-get install ros-humble-rviz2 ros-humble-rqt

Configure Display

• On the host machine, allow Docker to display GUI applications:

  xhost +local:docker
  

  or simply

  xhost +
  

  This command adds the local Docker container to the X server access control list, allowing GUI applications from the container to be displayed on the host machine's screen.

• In the docker

  export DISPLAY=:0
  

Run Rviz2 inside the Container

Once Rviz2 is installed, you can run it inside the container, and it will display on the host machine's screen.

Note: Remember to restrict xhost access after you are done, for security reasons:

xhost -local:docker