4.2. Ubuntu 24.04 Server 64bit

4.2.1. Modify Cloud-Init

Modify user-data on the system-boot partition to your liking. An example configuration is provided below:

Listing 4.1 user-data

#cloud-config

hostname: hippo-main-04
manage_etc_hosts: true
locale: en_US.UTF-8
timezone: Europe/Berlin

users:
    - name: pi
      groups: sudo, dialout, video
      sudo: "ALL=(ALL) NOPASSWD:ALL"
      # false -> allow password login
      lock_passwd: false
      shell: /bin/bash
      plain_text_passwd: "hippocampus"
      ssh_authorized_keys:
      - ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIF0xs6V9Lp2xzh/+hs+S919KpwAj9VHWO5NeHEuTYTpQ thies.lennart.alff@tuhh.de
      - ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAACAQDXZYQ3V6tmAQ7RhfCkmy9406FmKKgAVF0qDkeDJ7XroyYC10kLyEOWXFMbemqrQU3SHJ2ly0ujizZuJLtEYY60dWBCzIG1jHenPX7az0Vf/0Mj5m7lyttt/81RblfLzIDrFlFmdY/GI7fBB9IaMiFNQfTEV2IP7SsGQrrB8Ki7FkoHKZvV9iVn7+taO+g/MLs17JTtZICkTGZpzgxJfQepZMNt2/D5G7eo5YeTUnGT5SxidTxkhjcVqepdriDfy1lBZ7j/bD4tXh17024Pj/GI3gAO+CU67/mAvujaoDm2/LmiRkNvPYsSF1wyDVhfAu+Wdk/g/pbOAuas6boiQvPAM64I7cdjr2yOsmEJoADfaO2fxQHCwR7eW+gz2vY35XDdaAHfxGqTlLAvmS2rMjvKRPbC6chCyfozoBVQq2jZ/vq3IqqzLDt8Mb7LyiLm0ohxnD6o/8AbAOPL1un2mFm3kVYfIKuP00YrcBb4lDUDdE1YoxFlEeqGiTxsUIoiW0hyWmVRQa6aHpZte8AMoPev2JKk/WRLzcj5Pyf7/UG4zO7XrSb6baZ+r+Kqq0oHoE9zCG8On44vO751IWxmLeCXxliDbORhS12Ke+kMDzUz1gz+4wi38uJCcAKqzTSeNuchGmvTdoRGCNHGcqjFSGNfDVDdwOi+1+59fCTIgN9Ldw== lennartalff-yubikey
      - ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAID1jzFjfirr762nLh2CAwCoyrjfIezMH4it5nd4by+Bn nathalie_bauschmann@hotmail.de

# allow password ssh login
ssh_pwauth: true

package_update: true
package_upgrade: true
packages:
    - avahi-daemon

power_state:
    mode: reboot
    delay: now
    condition: True

Note

Make sure to connect the Raspberry Pi with the Internet via Ethernet before booting the first time.

4.2.2. Boot Config

On the system-boot partition of the SD Card prepared for the Pi, edit config.txt and append the required lines for the specific setup.

Note

This can also be done from the live system later on. The path to the file is then /boot/firmware/config.txt

See the documentation for details on device tree overlays.

I2C

dtoverlay=i2c4,pins_6_7

UART

dtoverlay=uart2
dtoverlay=uart3
dtoverlay=uart4
dtoverlay=uart5

4.2.3. Disable Interactive Upgrade

Edit needrestart.conf so it contains the following entries (uncomment and modify as required)

$nrconf{restart} = 'a';
$nrconf{kernelhints} = 0

4.2.4. Create Workspace

$ mkdir -p ~/ros2/src \
&& mkdir -p ~/ros2_underlay/src