Update Raspberry Pi OS to 2023-12-11

For cases when optical flow is dynamically disabled and enabled back

builder/assets/noetic-bullseye.yaml

@@ -0,0 +1,735 @@
+catkin:
+  debian:
+    bullseye: [ros-noetic-catkin]
+genmsg:
+  debian:
+    bullseye: [ros-noetic-genmsg]
+gencpp:
+  debian:
+    bullseye: [ros-noetic-gencpp]
+geneus:
+  debian:
+    bullseye: [ros-noetic-geneus]
+genlisp:
+  debian:
+    bullseye: [ros-noetic-genlisp]
+gennodejs:
+  debian:
+    bullseye: [ros-noetic-gennodejs]
+genpy:
+  debian:
+    bullseye: [ros-noetic-genpy]
+bond_core:
+  debian:
+    bullseye: [ros-noetic-bond-core]
+cmake_modules:
+  debian:
+    bullseye: [ros-noetic-cmake-modules]
+class_loader:
+  debian:
+    bullseye: [ros-noetic-class-loader]
+common_msgs:
+  debian:
+    bullseye: [ros-noetic-common-msgs]
+common_tutorials:
+  debian:
+    bullseye: [ros-noetic-common-tutorials]
+cpp_common:
+  debian:
+    bullseye: [ros-noetic-cpp-common]
+desktop:
+  debian:
+    bullseye: [ros-noetic-desktop]
+diagnostics:
+  debian:
+    bullseye: [ros-noetic-diagnostics]
+executive_smach:
+  debian:
+    bullseye: [ros-noetic-executive-smach]
+geometry:
+  debian:
+    bullseye: [ros-noetic-geometry]
+geometry_tutorials:
+  debian:
+    bullseye: [ros-noetic-geometry-tutorials]
+gl_dependency:
+  debian:
+    bullseye: [ros-noetic-gl-dependency]
+image_common:
+  debian:
+    bullseye: [ros-noetic-image-common]
+image_pipeline:
+  debian:
+    bullseye: [ros-noetic-image-pipeline]
+image_transport_plugins:
+  debian:
+    bullseye: [ros-noetic-image-transport-plugins]
+laser_pipeline:
+  debian:
+    bullseye: [ros-noetic-laser-pipeline]
+mavlink:
+  debian:
+    bullseye: [ros-noetic-mavlink]
+media_export:
+  debian:
+    bullseye: [ros-noetic-media-export]
+message_generation:
+  debian:
+    bullseye: [ros-noetic-message-generation]
+message_runtime:
+  debian:
+    bullseye: [ros-noetic-message-runtime]
+mk:
+  debian:
+    bullseye: [ros-noetic-mk]
+nodelet_core:
+  debian:
+    bullseye: [ros-noetic-nodelet-core]
+orocos_kdl:
+  debian:
+    bullseye: [ros-noetic-orocos-kdl]
+perception:
+  debian:
+    bullseye: [ros-noetic-perception]
+perception_pcl:
+  debian:
+    bullseye: [ros-noetic-perception-pcl]
+python_orocos_kdl:
+  debian:
+    bullseye: [ros-noetic-python-orocos-kdl]
+qt_dotgraph:
+  debian:
+    bullseye: [ros-noetic-qt-dotgraph]
+qt_gui:
+  debian:
+    bullseye: [ros-noetic-qt-gui]
+qt_gui_py_common:
+  debian:
+    bullseye: [ros-noetic-qt-gui-py-common]
+qwt_dependency:
+  debian:
+    bullseye: [ros-noetic-qwt-dependency]
+robot:
+  debian:
+    bullseye: [ros-noetic-robot]
+ros:
+  debian:
+    bullseye: [ros-noetic-ros]
+ros_base:
+  debian:
+    bullseye: [ros-noetic-ros-base]
+ros_comm:
+  debian:
+    bullseye: [ros-noetic-ros-comm]
+ros_core:
+  debian:
+    bullseye: [ros-noetic-ros-core]
+ros_environment:
+  debian:
+    bullseye: [ros-noetic-ros-environment]
+ros_tutorials:
+  debian:
+    bullseye: [ros-noetic-ros-tutorials]
+rosapi:
+  debian:
+    bullseye: [ros-noetic-rosapi]
+rosbag_migration_rule:
+  debian:
+    bullseye: [ros-noetic-rosbag-migration-rule]
+rosbash:
+  debian:
+    bullseye: [ros-noetic-rosbash]
+rosboost_cfg:
+  debian:
+    bullseye: [ros-noetic-rosboost-cfg]
+rosbridge_server:
+  debian:
+    bullseye: [ros-noetic-rosbridge-server]
+rosbridge_suite:
+  debian:
+    bullseye: [ros-noetic-rosbridge-suite]
+rosbuild:
+  debian:
+    bullseye: [ros-noetic-rosbuild]
+rosclean:
+  debian:
+    bullseye: [ros-noetic-rosclean]
+roscpp_core:
+  debian:
+    bullseye: [ros-noetic-roscpp-core]
+roscpp_traits:
+  debian:
+    bullseye: [ros-noetic-roscpp-traits]
+roscreate:
+  debian:
+    bullseye: [ros-noetic-roscreate]
+rosgraph:
+  debian:
+    bullseye: [ros-noetic-rosgraph]
+roslang:
+  debian:
+    bullseye: [ros-noetic-roslang]
+roslint:
+  debian:
+    bullseye: [ros-noetic-roslint]
+roslisp:
+  debian:
+    bullseye: [ros-noetic-roslisp]
+rosmake:
+  debian:
+    bullseye: [ros-noetic-rosmake]
+rosmaster:
+  debian:
+    bullseye: [ros-noetic-rosmaster]
+rospack:
+  debian:
+    bullseye: [ros-noetic-rospack]
+roslib:
+  debian:
+    bullseye: [ros-noetic-roslib]
+rosparam:
+  debian:
+    bullseye: [ros-noetic-rosparam]
+rospy:
+  debian:
+    bullseye: [ros-noetic-rospy]
+rosserial:
+  debian:
+    bullseye: [ros-noetic-rosserial]
+rosserial_msgs:
+  debian:
+    bullseye: [ros-noetic-rosserial-msgs]
+rosserial_python:
+  debian:
+    bullseye: [ros-noetic-rosserial-python]
+rosservice:
+  debian:
+    bullseye: [ros-noetic-rosservice]
+rostime:
+  debian:
+    bullseye: [ros-noetic-rostime]
+roscpp_serialization:
+  debian:
+    bullseye: [ros-noetic-roscpp-serialization]
+python_qt_binding:
+  debian:
+    bullseye: [ros-noetic-python-qt-binding]
+roslaunch:
+  debian:
+    bullseye: [ros-noetic-roslaunch]
+rosunit:
+  debian:
+    bullseye: [ros-noetic-rosunit]
+angles:
+  debian:
+    bullseye: [ros-noetic-angles]
+libmavconn:
+  debian:
+    bullseye: [ros-noetic-libmavconn]
+rosconsole:
+  debian:
+    bullseye: [ros-noetic-rosconsole]
+pluginlib:
+  debian:
+    bullseye: [ros-noetic-pluginlib]
+qt_gui_cpp:
+  debian:
+    bullseye: [ros-noetic-qt-gui-cpp]
+resource_retriever:
+  debian:
+    bullseye: [ros-noetic-resource-retriever]
+rosconsole_bridge:
+  debian:
+    bullseye: [ros-noetic-rosconsole-bridge]
+roslz4:
+  debian:
+    bullseye: [ros-noetic-roslz4]
+rosserial_client:
+  debian:
+    bullseye: [ros-noetic-rosserial-client]
+rostest:
+  debian:
+    bullseye: [ros-noetic-rostest]
+rqt_action:
+  debian:
+    bullseye: [ros-noetic-rqt-action]
+rqt_bag:
+  debian:
+    bullseye: [ros-noetic-rqt-bag]
+rqt_bag_plugins:
+  debian:
+    bullseye: [ros-noetic-rqt-bag-plugins]
+rqt_common_plugins:
+  debian:
+    bullseye: [ros-noetic-rqt-common-plugins]
+rqt_console:
+  debian:
+    bullseye: [ros-noetic-rqt-console]
+rqt_dep:
+  debian:
+    bullseye: [ros-noetic-rqt-dep]
+rqt_graph:
+  debian:
+    bullseye: [ros-noetic-rqt-graph]
+rqt_gui:
+  debian:
+    bullseye: [ros-noetic-rqt-gui]
+rqt_logger_level:
+  debian:
+    bullseye: [ros-noetic-rqt-logger-level]
+rqt_moveit:
+  debian:
+    bullseye: [ros-noetic-rqt-moveit]
+rqt_msg:
+  debian:
+    bullseye: [ros-noetic-rqt-msg]
+rqt_nav_view:
+  debian:
+    bullseye: [ros-noetic-rqt-nav-view]
+rqt_plot:
+  debian:
+    bullseye: [ros-noetic-rqt-plot]
+rqt_pose_view:
+  debian:
+    bullseye: [ros-noetic-rqt-pose-view]
+rqt_publisher:
+  debian:
+    bullseye: [ros-noetic-rqt-publisher]
+rqt_py_console:
+  debian:
+    bullseye: [ros-noetic-rqt-py-console]
+rqt_reconfigure:
+  debian:
+    bullseye: [ros-noetic-rqt-reconfigure]
+rqt_robot_dashboard:
+  debian:
+    bullseye: [ros-noetic-rqt-robot-dashboard]
+rqt_robot_monitor:
+  debian:
+    bullseye: [ros-noetic-rqt-robot-monitor]
+rqt_robot_plugins:
+  debian:
+    bullseye: [ros-noetic-rqt-robot-plugins]
+rqt_robot_steering:
+  debian:
+    bullseye: [ros-noetic-rqt-robot-steering]
+rqt_runtime_monitor:
+  debian:
+    bullseye: [ros-noetic-rqt-runtime-monitor]
+rqt_service_caller:
+  debian:
+    bullseye: [ros-noetic-rqt-service-caller]
+rqt_shell:
+  debian:
+    bullseye: [ros-noetic-rqt-shell]
+rqt_srv:
+  debian:
+    bullseye: [ros-noetic-rqt-srv]
+rqt_tf_tree:
+  debian:
+    bullseye: [ros-noetic-rqt-tf-tree]
+rqt_top:
+  debian:
+    bullseye: [ros-noetic-rqt-top]
+rqt_topic:
+  debian:
+    bullseye: [ros-noetic-rqt-topic]
+rqt_web:
+  debian:
+    bullseye: [ros-noetic-rqt-web]
+smach:
+  debian:
+    bullseye: [ros-noetic-smach]
+smclib:
+  debian:
+    bullseye: [ros-noetic-smclib]
+std_msgs:
+  debian:
+    bullseye: [ros-noetic-std-msgs]
+actionlib_msgs:
+  debian:
+    bullseye: [ros-noetic-actionlib-msgs]
+bond:
+  debian:
+    bullseye: [ros-noetic-bond]
+diagnostic_msgs:
+  debian:
+    bullseye: [ros-noetic-diagnostic-msgs]
+geometry_msgs:
+  debian:
+    bullseye: [ros-noetic-geometry-msgs]
+eigen_conversions:
+  debian:
+    bullseye: [ros-noetic-eigen-conversions]
+kdl_conversions:
+  debian:
+    bullseye: [ros-noetic-kdl-conversions]
+nav_msgs:
+  debian:
+    bullseye: [ros-noetic-nav-msgs]
+rosbridge_msgs:
+  debian:
+    bullseye: [ros-noetic-rosbridge-msgs]
+rosgraph_msgs:
+  debian:
+    bullseye: [ros-noetic-rosgraph-msgs]
+rosmsg:
+  debian:
+    bullseye: [ros-noetic-rosmsg]
+rqt_py_common:
+  debian:
+    bullseye: [ros-noetic-rqt-py-common]
+shape_msgs:
+  debian:
+    bullseye: [ros-noetic-shape-msgs]
+smach_msgs:
+  debian:
+    bullseye: [ros-noetic-smach-msgs]
+std_srvs:
+  debian:
+    bullseye: [ros-noetic-std-srvs]
+tf2_msgs:
+  debian:
+    bullseye: [ros-noetic-tf2-msgs]
+tf2:
+  debian:
+    bullseye: [ros-noetic-tf2]
+tf2_eigen:
+  debian:
+    bullseye: [ros-noetic-tf2-eigen]
+trajectory_msgs:
+  debian:
+    bullseye: [ros-noetic-trajectory-msgs]
+control_msgs:
+  debian:
+    bullseye: [ros-noetic-control-msgs]
+urdf_parser_plugin:
+  debian:
+    bullseye: [ros-noetic-urdf-parser-plugin]
+urdfdom_py:
+  debian:
+    bullseye: [ros-noetic-urdfdom-py]
+uuid_msgs:
+  debian:
+    bullseye: [ros-noetic-uuid-msgs]
+geographic_msgs:
+  debian:
+    bullseye: [ros-noetic-geographic-msgs]
+vision_opencv:
+  debian:
+    bullseye: [ros-noetic-vision-opencv]
+visualization_msgs:
+  debian:
+    bullseye: [ros-noetic-visualization-msgs]
+visualization_tutorials:
+  debian:
+    bullseye: [ros-noetic-visualization-tutorials]
+viz:
+  debian:
+    bullseye: [ros-noetic-viz]
+webkit_dependency:
+  debian:
+    bullseye: [ros-noetic-webkit-dependency]
+xmlrpcpp:
+  debian:
+    bullseye: [ros-noetic-xmlrpcpp]
+roscpp:
+  debian:
+    bullseye: [ros-noetic-roscpp]
+bondcpp:
+  debian:
+    bullseye: [ros-noetic-bondcpp]
+bondpy:
+  debian:
+    bullseye: [ros-noetic-bondpy]
+nodelet:
+  debian:
+    bullseye: [ros-noetic-nodelet]
+nodelet_tutorial_math:
+  debian:
+    bullseye: [ros-noetic-nodelet-tutorial-math]
+pluginlib_tutorials:
+  debian:
+    bullseye: [ros-noetic-pluginlib-tutorials]
+roscpp_tutorials:
+  debian:
+    bullseye: [ros-noetic-roscpp-tutorials]
+rosout:
+  debian:
+    bullseye: [ros-noetic-rosout]
+async_web_server_cpp:
+  debian:
+    bullseye: [ros-noetic-async-web-server-cpp]
+camera_calibration:
+  debian:
+    bullseye: [ros-noetic-camera-calibration]
+diagnostic_aggregator:
+  debian:
+    bullseye: [ros-noetic-diagnostic-aggregator]
+diagnostic_updater:
+  debian:
+    bullseye: [ros-noetic-diagnostic-updater]
+diagnostic_common_diagnostics:
+  debian:
+    bullseye: [ros-noetic-diagnostic-common-diagnostics]
+dynamic_reconfigure:
+  debian:
+    bullseye: [ros-noetic-dynamic-reconfigure]
+filters:
+  debian:
+    bullseye: [ros-noetic-filters]
+joint_state_publisher:
+  debian:
+    bullseye: [ros-noetic-joint-state-publisher]
+message_filters:
+  debian:
+    bullseye: [ros-noetic-message-filters]
+ros_pytest:
+  debian:
+    bullseye: [ros-noetic-ros-pytest]
+rosauth:
+  debian:
+    bullseye: [ros-noetic-rosauth]
+rosbag_storage:
+  debian:
+    bullseye: [ros-noetic-rosbag-storage]
+rosnode:
+  debian:
+    bullseye: [ros-noetic-rosnode]
+rospy_tutorials:
+  debian:
+    bullseye: [ros-noetic-rospy-tutorials]
+rosshow:
+  debian:
+    bullseye: [ros-noetic-rosshow]
+rostopic:
+  debian:
+    bullseye: [ros-noetic-rostopic]
+rqt_gui_cpp:
+  debian:
+    bullseye: [ros-noetic-rqt-gui-cpp]
+rqt_gui_py:
+  debian:
+    bullseye: [ros-noetic-rqt-gui-py]
+self_test:
+  debian:
+    bullseye: [ros-noetic-self-test]
+smach_ros:
+  debian:
+    bullseye: [ros-noetic-smach-ros]
+tf2_py:
+  debian:
+    bullseye: [ros-noetic-tf2-py]
+topic_tools:
+  debian:
+    bullseye: [ros-noetic-topic-tools]
+rosbag:
+  debian:
+    bullseye: [ros-noetic-rosbag]
+actionlib:
+  debian:
+    bullseye: [ros-noetic-actionlib]
+actionlib_tutorials:
+  debian:
+    bullseye: [ros-noetic-actionlib-tutorials]
+diagnostic_analysis:
+  debian:
+    bullseye: [ros-noetic-diagnostic-analysis]
+nodelet_topic_tools:
+  debian:
+    bullseye: [ros-noetic-nodelet-topic-tools]
+roswtf:
+  debian:
+    bullseye: [ros-noetic-roswtf]
+rqt_launch:
+  debian:
+    bullseye: [ros-noetic-rqt-launch]
+sensor_msgs:
+  debian:
+    bullseye: [ros-noetic-sensor-msgs]
+camera_calibration_parsers:
+  debian:
+    bullseye: [ros-noetic-camera-calibration-parsers]
+cv_bridge:
+  debian:
+    bullseye: [ros-noetic-cv-bridge]
+image_geometry:
+  debian:
+    bullseye: [ros-noetic-image-geometry]
+image_transport:
+  debian:
+    bullseye: [ros-noetic-image-transport]
+camera_info_manager:
+  debian:
+    bullseye: [ros-noetic-camera-info-manager]
+compressed_depth_image_transport:
+  debian:
+    bullseye: [ros-noetic-compressed-depth-image-transport]
+compressed_image_transport:
+  debian:
+    bullseye: [ros-noetic-compressed-image-transport]
+cv_camera:
+  debian:
+    bullseye: [ros-noetic-cv-camera]
+image_proc:
+  debian:
+    bullseye: [ros-noetic-image-proc]
+image_publisher:
+  debian:
+    bullseye: [ros-noetic-image-publisher]
+map_msgs:
+  debian:
+    bullseye: [ros-noetic-map-msgs]
+mavros_msgs:
+  debian:
+    bullseye: [ros-noetic-mavros-msgs]
+pcl_msgs:
+  debian:
+    bullseye: [ros-noetic-pcl-msgs]
+pcl_conversions:
+  debian:
+    bullseye: [ros-noetic-pcl-conversions]
+polled_camera:
+  debian:
+    bullseye: [ros-noetic-polled-camera]
+rqt_image_view:
+  debian:
+    bullseye: [ros-noetic-rqt-image-view]
+stereo_msgs:
+  debian:
+    bullseye: [ros-noetic-stereo-msgs]
+image_view:
+  debian:
+    bullseye: [ros-noetic-image-view]
+rosbridge_library:
+  debian:
+    bullseye: [ros-noetic-rosbridge-library]
+stereo_image_proc:
+  debian:
+    bullseye: [ros-noetic-stereo-image-proc]
+tf2_ros:
+  debian:
+    bullseye: [ros-noetic-tf2-ros]
+depth_image_proc:
+  debian:
+    bullseye: [ros-noetic-depth-image-proc]
+mavros:
+  debian:
+    bullseye: [ros-noetic-mavros]
+tf:
+  debian:
+    bullseye: [ros-noetic-tf]
+interactive_markers:
+  debian:
+    bullseye: [ros-noetic-interactive-markers]
+interactive_marker_tutorials:
+  debian:
+    bullseye: [ros-noetic-interactive-marker-tutorials]
+laser_geometry:
+  debian:
+    bullseye: [ros-noetic-laser-geometry]
+laser_assembler:
+  debian:
+    bullseye: [ros-noetic-laser-assembler]
+laser_filters:
+  debian:
+    bullseye: [ros-noetic-laser-filters]
+pcl_ros:
+  debian:
+    bullseye: [ros-noetic-pcl-ros]
+tf2_geometry_msgs:
+  debian:
+    bullseye: [ros-noetic-tf2-geometry-msgs]
+image_rotate:
+  debian:
+    bullseye: [ros-noetic-image-rotate]
+tf2_kdl:
+  debian:
+    bullseye: [ros-noetic-tf2-kdl]
+tf2_web_republisher:
+  debian:
+    bullseye: [ros-noetic-tf2-web-republisher]
+tf_conversions:
+  debian:
+    bullseye: [ros-noetic-tf-conversions]
+theora_image_transport:
+  debian:
+    bullseye: [ros-noetic-theora-image-transport]
+turtlesim:
+  debian:
+    bullseye: [ros-noetic-turtlesim]
+turtle_actionlib:
+  debian:
+    bullseye: [ros-noetic-turtle-actionlib]
+turtle_tf:
+  debian:
+    bullseye: [ros-noetic-turtle-tf]
+turtle_tf2:
+  debian:
+    bullseye: [ros-noetic-turtle-tf2]
+urdf:
+  debian:
+    bullseye: [ros-noetic-urdf]
+kdl_parser:
+  debian:
+    bullseye: [ros-noetic-kdl-parser]
+kdl_parser_py:
+  debian:
+    bullseye: [ros-noetic-kdl-parser-py]
+mavros_extras:
+  debian:
+    bullseye: [ros-noetic-mavros-extras]
+robot_state_publisher:
+  debian:
+    bullseye: [ros-noetic-robot-state-publisher]
+rviz:
+  debian:
+    bullseye: [ros-noetic-rviz]
+librviz_tutorial:
+  debian:
+    bullseye: [ros-noetic-librviz-tutorial]
+rqt_rviz:
+  debian:
+    bullseye: [ros-noetic-rqt-rviz]
+rviz_plugin_tutorials:
+  debian:
+    bullseye: [ros-noetic-rviz-plugin-tutorials]
+rviz_python_tutorial:
+  debian:
+    bullseye: [ros-noetic-rviz-python-tutorial]
+urdf_tutorial:
+  debian:
+    bullseye: [ros-noetic-urdf-tutorial]
+usb_cam:
+  debian:
+    bullseye: [ros-noetic-usb-cam]
+visualization_marker_tutorials:
+  debian:
+    bullseye: [ros-noetic-visualization-marker-tutorials]
+vl53l1x:
+  debian:
+    bullseye: [ros-noetic-vl53l1x]
+web_video_server:
+  debian:
+    bullseye: [ros-noetic-web-video-server]
+xacro:
+  debian:
+    bullseye: [ros-noetic-xacro]
+led_msgs:
+  debian:
+    bullseye: [ros-noetic-led-msgs]
+ws281x:
+  debian:
+    bullseye: [ros-noetic-ws281x]
+ddynamic_reconfigure:
+  debian:
+    bullseye: [ros-noetic-ddynamic-reconfigure]
+librealsense2:
+  debian:
+    bullseye: [ros-noetic-librealsense2]
+realsense2_camera:
+  debian:
+    bullseye: [ros-noetic-realsense2-camera]
+realsense2_description:
+  debian:
+    bullseye: [ros-noetic-realsense2-description]

builder/image-build-ros.sh

@@ -0,0 +1,100 @@
+#! /usr/bin/env bash
+
+#
+# Script for building ROS packages from scratch
+#
+# Copyright (C) 2022 Copter Express Technologies
+#
+# Author: Oleg Kalachev <okalachev@gmail.com>
+#
+# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+
+set -ex # exit on error, echo commands
+
+# http://wiki.ros.org/Installation/Source
+
+export ROS_DISTRO=noetic
+. /etc/os-release # set $VERSION_CODENAME to Debian release code name
+export ROS_OS_OVERRIDE=debian:11:$VERSION_CODENAME
+
+echo "=== Building ROS from scratch"
+
+#echo "--- Adding sources"
+#echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
+#curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+
+apt-get update
+apt-get install -y python3-distutils python3-rosdep python3-rosinstall-generator build-essential git # python3-vcstool
+
+# install vcstool using pip
+curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py && python3 get-pip.py && rm get-pip.py
+pip3 install -U vcstool
+
+# sudo rosdep init
+rm /etc/ros/rosdep/sources.list.d/20-default.list
+rosdep init
+rosdep update
+
+# rm /etc/ros/rosdep/sources.list.d/20-default.list && rosdep init
+# rosdep --os=debian:$VERSION_CODENAME update
+
+echo "--- Create Catkin workspace to build ROS package"
+mkdir ~/ros_catkin_ws
+cd ~/ros_catkin_ws
+
+echo "--- Download ROS sources"
+rosinstall_generator ros_base --rosdistro $ROS_DISTRO --deps --tar > noetic.rosinstall
+mkdir ./src
+vcs import --input noetic.rosinstall ./src
+
+# https://answers.ros.org/question/343367/catkin-package-dependencies-issue-when-installing-ros-melodic-on-raspberry-pi-4/
+#sudo apt remove python-rospkg
+#sudo apt remove python-catkin-pkg
+##sudo apt --fix-broken install
+#sudo apt-get autoremove
+
+echo "--- Install catkin_pkg"
+cd
+git clone https://github.com/ros-infrastructure/catkin_pkg.git
+cd catkin_pkg
+python3 setup.py install
+cd ~/ros_catkin_ws
+
+echo "--- Resolve dependencies"
+rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro $ROS_DISTRO -y --os=debian:$VERSION_CODENAME --skip-keys="python3-catkin-pkg python3-catkin-pkg-modules python3-rosdep-modules"
+
+echo "--- Build ROS"
+# https://github.com/ros/catkin/issues/863#issuecomment-290392074
+./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release \
+	-DSETUPTOOLS_DEB_LAYOUT=OFF \
+	--install-space=/opt/ros/$ROS_DISTRO
+
+# source ~/ros_catkin_ws/install_isolated/setup.bash
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+echo "--- List built ROS packages"
+set +x
+rospack list-names | while read line; do echo $line `rosversion $line`; done
+set -x
+
+echo "--- Build Debian packages"
+apt-get install -y python3-bloom debhelper dpkg-dev libtinyxml-dev
+
+# add rosdep file to help bloom-generate resolve missing bullseye dependencies
+echo "yaml file:///etc/ros/rosdep/noetic-bullseye.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
+rosdep update
+
+pip3 install setuptools==45.2.0 # https://github.com/ros/catkin/issues/863#issuecomment-1000446018
+
+for file in `find . -name "package.xml" -not -path "*/debian/*"`; do
+	cd $(dirname ${file})
+	rm -rf debian
+	bloom-generate rosdebian --os-name debian --os-version $VERSION_CODENAME --ros-distro $ROS_DISTRO --debug
+	debian/rules binary # fakeroot is not needed as we are root
+	cd -
+done
+
+ls

builder/image-build.sh

@@ -16,7 +16,7 @@
 set -e # Exit immidiately on non-zero result
 
 # https://www.raspberrypi.org/software/operating-systems/#raspberry-pi-os-32-bit
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-05-28/2021-05-07-raspios-buster-armhf-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.com/raspios_lite_armhf/images/raspios_lite_armhf-2023-12-11/2023-12-11-raspios-bookworm-armhf-lite.img.xz"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -104,7 +104,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.socket' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
 # software install
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
+# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup
@@ -113,13 +113,14 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-s
 # If RPi then use a one thread to build a ROS package on RPi, else use all
 [[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
 # Clover
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-bullseye.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
 # Add rename script
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
+#${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-build-ros.sh'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
 
 ${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}