pi3 ubuntu 22.04 server install ros2 humble (basic planformat ) no gui

 Installing ROS 2 Humble on a Raspberry Pi 3 running Ubuntu 22.04 involves several steps, primarily through the use of apt package manager for binary installation.

1. Prepare your System:

• Install Ubuntu 22.04 (64-bit) on your Raspberry Pi 3. Ensure it's the 64-bit version for optimal ROS 2 support (Tier 1).
• Set your locale: Verify that your locale supports UTF-8. If not, set it using commands like:

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    sudo apt update && sudo apt install locales
    sudo locale-gen en_US en_US.UTF-8
    sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
    export LANG=en_US.UTF-8

Update and upgrade packages.

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    sudo apt update && sudo apt upgrade

Install essential tools.

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    sudo apt install software-properties-common curl

2. Add ROS 2 Repository:

Enable Ubuntu Universe repository.

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    sudo add-apt-repository universe

Add the ROS 2 GPG key.

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    sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

• Add the ROS 2 repository to your sources list:

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    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

3. Install ROS 2 Humble:

Update your package list again.

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    sudo apt update

• Install ROS 2 Humble Desktop (recommended for GUI) or ROS-Base (bare bones):

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    # For Desktop install:
    sudo apt install -y ros-humble-desktop

    # For ROS-Base install:
    sudo apt install -y ros-humble-ros-base

4. Environment Setup:

• Source the ROS 2 setup script: To make ROS 2 commands available in your terminal, add this to your ~/.bashrc file:

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    echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
    source ~/.bashrc

5. (Optional) Install additional packages:

Install colcon build tools and rosdep.

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    sudo apt install -y python3-colcon-common-extensions python3-rosdep
    sudo rosdep init
    rosdep update

Install CycloneDDS (alternative RMW).

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    sudo apt install -y ros-humble-rmw-cyclonedds-cpp

• Set default RMW (e.g., to CycloneDDS):

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    echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
    source ~/.bashrc

After these steps, you should have ROS 2 Humble installed and configured on your Raspberry Pi 3 running Ubuntu 22.04. You can then test it by running some basic ROS 2 commands, such as ros2 topic list.