ROS2

The new version of ROS is being developed, called ROS2 and first stable versions are released. Since ROS2 was still in it's early phase when ExoMy was developed, it was chosen to first write the code in the older version of ROS. Since ROS2 got more and more stable, it was time to convert the ExoMy code. This page should explain how to setup ExoMy for ROS2.

Setup

ROS2 only runs on 64-bit systems.

Raspberry Pi OS is also published as a 64-bit version and can be installed with the Pi Imager Tool.

Pi Imager Tool

There is an official imaging tool for the Raspberry Pi, that will download the image and install it automatically to the SD card:

• Download the latest version of Raspberry Pi Imager and install it
• Connect an SD card reader with the SD card inside.
• Open Raspberry Pi Imager and choose the required OS from the list presented. Choose "Raspberry Pi OS (other)" -> "Raspberry Pi OS (64-bit)"
• Choose the SD card you wish to write your image to.
• Review your selections and click 'WRITE' to begin writing data to the SD card.

OS Setup & Camera

The 64-bit system does not support the camera by default. Follow first all steps of the Software Instructions and then activate the camera after the step "OS Update" with the following terminal command:

sudo raspi-config

Navigate to Interface Options and select Legacy camera to enable it.

Reboot your Pi again with sudo reboot.

ROS2 Package

In the repository the ros2/foxy branch needs to be checked out.

For the config scripts you need to use python3 to launch, since this is the new standard in ROS2.

Open Issues

• The web control is not working yet