====== 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/