ROS2 Robotics Kit - Automated ISO Builder

🤖 Automated Ubuntu ISO builder with pre-configured ROS2 environment for robotics development

This project provides a complete automation pipeline using Ansible and GitHub Actions to create custom Ubuntu ISO images with ROS2 and robotics development tools pre-installed.

🎯 Features

🖥️ Development Environment (AMD64)

• Target: Desktop/laptop development machines
• OS: Ubuntu 22.04 LTS with ROS2 Humble
• Tools: Full desktop environment, development tools, ROS2 Desktop
• Workspace: Pre-configured ~/ros2_ws

🍓 Robotics Kit (ARM64 - Raspberry Pi 5)

• Target: Raspberry Pi 5 robotics projects
• OS: Ubuntu 24.04 LTS with ROS2 Jazzy
• Hardware: GPIO, I2C, SPI interfaces pre-configured
• Tools: Robotics libraries, hardware abstraction layers
• Workspace: Pre-configured ~/robot_ws

🚀 Quick Start

Using Pre-built ISOs (Recommended)

1. Download from Releases

   # Check latest releases
   wget https://github.com/your-username/shr_core/releases/latest

2. Flash to Storage

   # For Raspberry Pi 5 (ARM64)
   sudo dd if=ros2-robotics-kit-arm64-ubuntu24.04-ros2jazzy.iso of=/dev/sdX bs=4M status=progress
   
   # For PC/Laptop (AMD64) 
   sudo dd if=ros2-robotics-kit-amd64-ubuntu22.04-ros2humble.iso of=/dev/sdX bs=4M status=progress

3. Boot and Install

   • Boot from USB/SD card
   • Follow installation wizard
   • System ready for ROS2 development!

Building Locally

1. Setup Dependencies

   git clone https://github.com/your-username/shr_core.git
   cd shr_core
   ansible-playbook ansible/playbooks/setup_kit.yaml -i localhost, --connection=local --ask-become-pass

2. Build ISOs

   # Build development environment ISO (AMD64)
   make build-dev
   
   # Build robotics kit ISO (ARM64)
   make build-kit
   
   # Build both
   make build-both

3. Test Build

   # Test Ansible playbooks
   make test-ansible
   
   # Test ISO with QEMU (AMD64 only)
   make test-iso-amd64

📁 Project Structure

shr_core/
├── .github/workflows/     # GitHub Actions CI/CD
│   └── build-iso.yml     # Automated ISO building
├── ansible/              # Ansible automation
│   ├── roles/ros2/       # ROS2 installation role
│   └── playbooks/        # Environment setup playbooks
├── scripts/              # ISO building scripts
│   ├── prepare-base-system.sh
│   ├── apply-ansible-config.sh
│   └── build-iso.sh
├── docker/               # Docker support
└── Makefile             # Local development commands

🔧 Customization

Variables

Customize builds by setting environment variables:

# Use different ROS2 distribution
make build-dev ROS2_DISTRO=iron

# Target different Ubuntu version (override defaults)
make build-kit UBUNTU_VERSION=22.04  # Force older version for ARM64

# Custom architecture
make _build ARCHITECTURE=amd64 ROS2_DISTRO=jazzy

Ansible Playbooks

Modify the Ansible playbooks in ansible/playbooks/:

• setup_dev.yaml - Development environment
• setup_kit.yaml - Robotics kit environment

Additional Packages

Add packages to the ros2_additional_packages variable in playbooks:

ros2_additional_packages:
  - ros-humble-navigation2
  - ros-humble-slam-toolbox
  - ros-humble-moveit

🐙 GitHub Actions

Automated Builds

The GitHub Actions workflow automatically:

1. ✅ Validates Ansible playbooks
2. 🏗️ Builds ISOs for both architectures
3. 🧪 Tests ISO integrity
4. 📦 Creates GitHub releases
5. 🔐 Generates checksums

Triggers

• Push to main/develop: Build and test
• Tags (v)*: Build and create release
• Manual dispatch: Custom parameters
• Pull requests: Validation only

Manual Trigger

# Trigger manual build via GitHub CLI
gh workflow run build-iso.yml \
  --field ros2_distro=humble \
  --field ubuntu_version=22.04 \
  --field architecture=arm64

🧪 Testing

Local Testing

# Validate Ansible
make test-ansible

# Test ISO boot (requires QEMU)
make test-iso-amd64

# Test GitHub Actions locally (requires act)
make github-test

Post-Installation Testing

Development Environment (AMD64):

# After installation
source ~/.bashrc
ros2 --version
ros2 topic list
cw  # Navigate to workspace

Robotics Kit (ARM64):

# After installation and reboot
source ~/.bashrc
ros2 --version
gpio_status  # Check GPIO
rw  # Navigate to robot workspace

📚 Documentation

• Ansible Roles
• Playbook Usage
• GitHub Actions Workflow

🤝 Contributing

1. Fork the repository
2. Create feature branch (git checkout -b feature/amazing-feature)
3. Test changes (make test-ansible)
4. Commit changes (git commit -m 'Add amazing feature')
5. Push to branch (git push origin feature/amazing-feature)
6. Open Pull Request

📋 Requirements

Build Environment

• Ubuntu 20.04+ or similar Linux distribution
• 20GB+ free disk space
• Internet connection for package downloads
• sudo privileges

Runtime (Generated ISOs)

• AMD64: Any x86_64 PC with 4GB+ RAM
• ARM64: Raspberry Pi 5 with 4GB+ RAM
• 16GB+ storage (SD card/USB/SSD)

🐛 Troubleshooting

Common Issues

Build fails with permission errors:

sudo chmod 777 /tmp/iso-build /tmp/iso-output

QEMU emulation issues:

sudo update-binfmts --enable qemu-aarch64

Network issues in chroot:

# Check DNS resolution
cat /etc/resolv.conf

Debug Mode

Enable verbose output:

make build-dev VERBOSE=1

📄 License

This project is licensed under the MIT License - see the LICENSE file for details.

🙏 Acknowledgments

• ROS2 Community for the excellent robotics framework
• Ubuntu for the solid foundation
• Ansible for infrastructure automation