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

• 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

• 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/