And PI Imager 1.7.5 automatically shows the new Bookworm Pi OS so if you are already on 1.7.5 don’t need to upgrade the Pi Imager to write any of the Bookworm Pi OS. There are both 32-bit and 64-bit versions of each Bookworm Pi OS.
So many choices I don’t know which to try first!
Notice that Buster is no longer available via the Raspberry Pi Imager! Just discovered that myself today.
By clicking Archive and going back to the release date before 2023-10-10 there are buster images:
example:
https://downloads.raspberrypi.com/raspios_oldstable_armhf/images/raspios_oldstable_armhf-2023-05-03/
No success for headless access for headless setup of two flavors so far. firstrun.sh is not succeeding.
Had to connect monitor and keyboard to setup user and WiFi to have remote access.
Starting with the “Recommended” 32-bit PiOS Desktop (Bookworm) to see what it takes to get my GoPiGo3 on it - should be pretty straight forward (without software I2C).
Thanks for posting the link! 
DISCLAIMER: This is my personal test - no connection to ModRobotics
GoPiGo3 “Dave” (Pi4) works on 32-bit PiOS Desktop (Bookworm)
All my changes:
Really weird - imager setting of user, wifi, hostname but not ssh worked on 64-bit PiOS Desktop, and could not get ssh working.
imager didn’t set anything for 32-bit PiOS Desktop (for me), but I was able to get it all setup up including ssh from the desktop.
Going to try re-imaging the 64-bit PiOS Desktop again - supposedly it is just me seeing this weirdness.
PiOS Bookworm 64-bit Lite:
This is getting old, trying every PiOS Bookworm in hopes one of them will be usable. Raspberrypi forums say what I am seeing is not happening for others. Maybe I need to try a different sdCard.
Sounds reminiscent of my trying various Ubuntu and Ubuntu-MATE images that should work on a Raspi 3 B+ but don’t on any of mine. Which Raspi are you trying this with again?
Finally success with 64-bit PiOS Bookworm Desktop - with a different sdCard/formatted MS-DOS(FAT) and erased before imaging.
Need to test on my GoPiGo3 later - (Setup script succeeded. )
GoPiGo3 passed tests - I’m done.
DISCLAIMER: This is my personal test - no connection to ModRobotics
GoPiGo3 “Dave” (Pi4) works on 64-bit PiOS Desktop (Bookworm)
Some observations of this relative to GoPiGo3 on Bookworm with a desktop on a 2GB Pi4:
pi@PIOSB64D:~ $ uptime
10:23:02 up 12:16, 1 user, load average: 0.02, 0.05, 0.01
pi@PIOSB64D:~ $ free
total used free shared buff/cache available
Mem: 1892432 351548 996716 14872 628528 1540884
Swap: 102396 0 102396
Some further testing of GoPiGo3 on Bookworm in C++:
Working:
Not working:
Working:
Created a servos test program to match the Python Servo.py. The Python3 Servo.py takes 10% of one core, while the C++ servos.cpp takes 7% of one core making it 30% faster in this case.
Oh wow - the world of ROS is containerized. I’ve seen references to Docker and running ROS/ROS 2 in Docker but I never needed to grok what a beautiful thing this is!
pi@PIOSB64D:~/bookworm_test/ROS2_Humble $ sudo docker run -it r2hd
root@f28044c95af4:/# ros2 run demo_nodes_cpp listener &
ros2 run demo_nodes_cpp talker
[1] 47
[INFO] [1697771577.848362187] [talker]: Publishing: 'Hello World: 1'
[INFO] [1697771577.849841132] [listener]: I heard: [Hello World: 1]
[INFO] [1697771578.848235875] [talker]: Publishing: 'Hello World: 2'
[INFO] [1697771578.849053124] [listener]: I heard: [Hello World: 2]
*ctrl-c
root@e11358278468:/# *ctrl-d
exit
pi@PIOSB64D:~/bookworm_test/ROS2_Humble $
The scripts are in my bookworm_test/ROS2_Humble github repo
-rw-r--r-- 1 pi pi 709 Oct 19 21:25 1_setup_docker_apt_repo.sh
-rw-r--r-- 1 pi pi 146 Oct 19 21:26 2_install_docker_pkgs.sh
-rw-r--r-- 1 pi pi 65 Oct 19 21:35 3_clone_ros_docker_images.sh
-rw-r--r-- 1 pi pi 267 Oct 19 22:58 4_build_humble_desktop_container.sh
-rw-r--r-- 1 pi pi 131 Oct 19 23:11 5_run_ROS2_Humble_Docker_image.sh
Because ROS / ROS 2 allow distributed nodes - I can run the GoPiGo3 node on the bot, and all the processing of the sensor data on the Pi5 (when the hardware arrives). The first dual processor GoPiGo3 may be possible with ROS/ROS2 - (the battery may not be up to powering them).
Well maybe - we haven’t run the performance tests …
One of the things I would like to do and/or see is a Bookworm based GPGOS.
Eventually I want to build a GoPiGo3 enabled image and try to run some of my stuff on it.
Will Bookworm run on earlier Pi’s? (Like the 3 or 4?)
That’s a great idea (if the battery can handle it).
Were you going to network them with WiFi? I wonder if the two boards will interfere in some way, reducing bandwidth?
/K
Exactly my thoughts
I was thinking that the Pi-5 might have the chops to run the whole show itself?
WiFi interference won’t be a problem if:
Using the 2.5ghz band as an example, the only three channels that don’t interfere are 1, 6, and 11, and if you want to be absolutely sure you pick 1 and 11.
If the channels are the same, the protocol handles collisions. If they don’t overlap at all, it’s all good too.
The big problem is when a channel partially overlaps another, because WiFi channels aren’t cleanly separated groups of frequencies, and all the channels overlap except channels 01, 06, and 11. In that case, speed drops dramatically.
