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Prerequisites on the Pi5

Firstly setup SSH, so we can connect to the pi from our laptop.

sudo apt update
sudo apt install -y openssh-server

Then setup the SSH keys, which we add to github so we can push code to the pi

ssh-keygen -t ed25519 -C "james.elsey@gmail.com"
eval "$(ssh-agent -s)"
ssh-add ~/.ssh/id_ed25519
cat ~/.ssh/id_ed25519.pub

Copy the output of that public key, then add to your github, under Settings > SSH and GPG keys > New SSH key

Ros2 Setup

I took all these commands from the official ros2 setup guide, I just added the -y and put them into a single script so it's easier to run, it also takes nearly an hour so run this and grab a coffee

Prerequisites on the Pi5

Firstly setup SSH, so we can connect to the pi from our laptop.

sudo apt update 
sudo apt install -y locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

sudo apt install -y software-properties-common
sudo add-apt-repository -y universe

sudo apt update && sudo apt install curl -y
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://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update && sudo apt install -y ros-dev-tools

sudo apt update
sudo apt upgrade -y

sudo apt install -y \
  ros-jazzy-desktop \
  '~nros-jazzy-rqt*' \
  ros-jazzy-teleop-twist-joy \
  ros-jazzy-tf-transformations \
  ros-jazzy-xacro \
  ros-jazzy-foxglove-bridge \
  ros-jazzy-topic-tools \
  ros-jazzy-image-transport-plugins \
  ros-jazzy-joint-state-publisher \ ros-jazzy-joint-state-publisher-gui \
  joystick \
  jstest-gtk \
  tree \
  python3-gpiozero \
  htop \
  docker-compose \
  python3-pip \
  python3.12-venv \
  portaudio19-dev

Then run this to add ros to your terminal, this means you can run ros2 when you login or open a new terminal

echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && source ~/.bashrc

Robotics codebase

Clone the repo

cd ~
git clone git@github.com:jameselsey/robotics.git
cd robotics

Build and run!

make build
make lauch

Cameras

To use a camera, we need to install and configure some additional packages.

sudo apt update
sudo apt install -y v4l-utils ros-jazzy-v4l2-camera

Add your porcupine access key if you want to use wakewords

echo "export PORCUPINE_ACCESS_KEY=my-access-key" >> ~/.bashrc && source ~/.bashrc

Joystick

Launch using ros2 launch robotics joystick.launch.py

Foxglove

Make sure you have foxglove installed. You can install it using the following command:

sudo apt install ros-jazzy-foxglove-bridge