ROS2 in Debian Buster for RaspberryPi 3 with Qemu in 64bits (aarch64)

Increasing image size

  • Stop the qemu virtual machine
  • Resize image file
qemu-img resize 20190628_raspberry-pi-3_buster_PREVIEW.img +11G
  • Start the qemu virtual machine:
qemu-system-aarch64 -M virt -m 4096 -smp 4 -cpu cortex-a53   -kernel vmlinuz-4.19.0-5-arm64   -initrd initrd.img-4.19.0-5-arm64   -drive if=none,file=20190628_raspberry-pi-3_buster_PREVIEW.img,format=raw,id=hd  -append 'root=/dev/vda2 noresume'   -device virtio-blk-pci,drive=hd   -device virtio-net-pci,netdev=mynet -netdev user,id=mynet,hostfwd=tcp::2222-:22 -device virtio-rng-pci   -no-reboot -nographic
  • Resize the current second partition to use all the new free space:
cfdisk
  • Use the resize option to extend the second partition
  • Remember to write the changes
  • Now extend the ext4 filesystem
resize2fs /dev/vda2

Starting ROS2 Installation

  • All these instructions are for running inside of Qemu virtual machine. If using 4 cores (smp 4) use at least 2048MB or RAM. If using 8 cores, use at least 4096MB of RAM.
  • Login as root in the qemu virtual machine
  • Install system dependencies:
apt-get install sudo
  • Create a new user:
adduser pi
  • Add new user to sudo group
adduser pi sudo
  • Logout and login as “pi” user
  • Consider upgrading the system:
sudo apt-get upgrade
  • After the upgrade, reboot the virtual machine and login as “pi”
  • Edit your “.bashrc” file, add the following at the end of the file:
export PATH=${HOME}/.local/bin:$PATH
  • Follow ROS2 building instructions for Dashing:

https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup/

  • tutorials/ros2_for_debian_buster_rpi3_with_qemu.txt
  • Last modified: 2019/11/07 01:36
  • by admin