Raspberry Pi 5! (continued) ROS 2 Humble in Docker on PiOS Bookworm

cyclicalobsessive · December 4, 2023, 5:04pm

(Board wouldn’t let me post more than 3 in row - so continued here…)

“ROS 2 Life in Docker” advances continue:

Figured out how to clean up after rebuilding (reclaim 3.5GB docker keeps after told to delete)
Figured out how to create and be user pi group pi in docker ROS
Ran slam-toolbox async mapping on Pi5 using topics from HumbleDave
(doesn’t take much load off Dave, but all this is needed if the Pi5 will ever get mated to a GoPiGo3 bot.)
async_slam uses 1% of 1 cpu 500MB +0.4W (base is 2.6W)

I’m to the point where I can declare my ROS 2 on Pi5 proof-of-concept “distraction” successful.

Time for me to re-focus on mapping/localization/navigation all on HumbleDave.

jimrh · December 5, 2023, 10:05pm

Next steps:
Tell us how you did it!
(Especially how to clean up Docker!)

cyclicalobsessive · December 6, 2023, 2:09am

All scripted, tested, and documented:

github.com

slowrunner/pi5desk/blob/main/configs/docker/README.md

# Install ROS 2 Humble To Pi5 PiOS Bookworm In Docker

REF: https://docs.ros.org/en/humble/How-To-Guides/Installing-on-Raspberry-Pi.html#raspberry-pi-os-with-ros-2-in-docker

** install Docker
- 1_setup_docker_apt_repo.sh  
- 2__install_docker_pkgs.sh   

Hello from Docker!  
This message shows that your installation appears to be working correctly.  

To generate this message, Docker took the following steps:  
 1. The Docker client contacted the Docker daemon.  
 2. The Docker daemon pulled the "hello-world" image from the Docker Hub.  
    (arm64v8)  
 3. The Docker daemon created a new container from that image which runs the  
    executable that produces the output you are currently reading.  
 4. The Docker daemon streamed that output to the Docker client, which sent it  
    to your terminal.

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cyclicalobsessive · December 14, 2023, 6:08am

Digikey had 2600+ Pi5 in stock this morning!