Goal: Attach small actuators and sensors to a Rasberry Pi Pico (RP2040) and have it attach to present to a ROS2 network running on some other device. Build this into a larger project. This Post: Some collected notes on resources. Status: See how-to-guide post

Setup ROS2 on a Raspberry Pi

One approach: setup some Docker containers, etc. This is a bit beyond what I know how to do and still get reliable access to the USB port

Working approach: Install ROS2 development environment, on Ubuntu 20 on a Raspberry Pi and then just connect to that. This is the approach argued for in this article which also provides some helpful tips on configuring Sambda to allow easy access

How to install ROS2 on Raspberry Pi. Key take aways are to use the 64-bit Ubuntu

Configure the Raspberry Pi PICO for MicroROS Development

Approach 0: The Official Github for MicroROS on RP2040 github page pretty plug and chug, runs micro-ros-agent in a docker container

Approach 1: Use an Ubuntu snap to run the micro-ros-agent

Install some dependencies, etc. assuming you are running an Ubuntu machine ubuntu blog then
This guy claimed to have trouble with the VSCode descriptions, but managed to get it running in the end with a guide using snaps, but not VSCode

First steps in interfacing Micro-ROS devices

Demonstration of how to publish sonar readings with sample code for make a a ROS publisher

IR Sensor interfacing

Next Steps

Status: See how-to-guide post