ROS 2 on Raspberry Pi

ROS 2 is supported on both 32 bit (arm32) and 64 bit (arm64) ARM processors. However, you can see here that arm64 receives Tier 1 support, while arm32 is Tier 3. Tier 1 support means distribution specific packages and binary archives are available, while Tier 3 requires the user to compile ROS 2 from source.

The fastest and simplest way to use ROS 2 is to use a Tier 1 supported configuration.

This would mean either installing 64 bit Ubuntu on to the Raspberry Pi, or using the 64 bit version of Raspberry Pi OS and running ROS 2 in Docker.

Ubuntu Linux on Raspberry Pi with binary ROS 2 install

Ubuntu for Raspberry Pi is available here.

Make sure to confirm that you have selected the correct version as described in REP-2000.

You can now install ROS 2 using the normal binary installation instructions for Ubuntu Linux.

Raspberry Pi OS with ROS 2 in docker

Raspberry Pi OS 64 bit version is available here.

Raspberry Pi OS is based on Debian which receives Tier 3 support, but it can run Ubuntu docker containers for Tier 1 support.

After flashing the OS, install Docker.

The official OSRF ROS 2 Docker container definitions can be found here.

You may choose from ros-core, ros-base, or ros-desktop. See here for more information on these variants.

Clone the docker_images git repo onto the Raspberry Pi, change in to the directory linked above, then to the directory with your preferred variant.

Inside of the directory, build the container with:

docker build -t ros_docker .

On a supported system it will only take a minute or two to build the docker containers, as the source code is already built in to binaries.

Pre-built Docker container

A pre-built container for the desktop variant is available as well, which only requires a docker pull command.

See this page for more information.