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An image for the Raspberry Pi 3/4/5 with ROS 2 and Linux RT preinstalled
| Date | Stars |
|---|---|
| 2026-07-24 | 327 |
| 2026-07-25 | 327 |
| 2026-07-28 | 327 |
| 2026-07-30 | 327 |
| 2026-08-06 | 327 |
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Raspberry Pi image with ROS 2 and the real-time kernel
=====================================================
[](https://github.com/ros-realtime/ros-realtime-rpi4-image/actions/workflows/build.yml)
This repo builds a Raspberry Pi image with ROS 2 and the real-time kernel
pre-installed. This image can be downloaded directly from [the releases
page](https://github.com/ros-realtime/ros-realtime-rpi4-image/releases),
flashed to a SD card, and booted on a Raspberry Pi.
Support matrix
--------------
| Ubuntu Version | ROS version | Hardware model | Supported | Measured latency |
| -------------- | ----------- | -------------- | --------- | ---------------- |
| 22.04 (Jammy) | Humble | Raspberry Pi 3 | ❌ | N/A |
| 22.04 (Jammy) | Humble | Raspberry Pi 4 | ✅ | [58 μs](./latency-analysis/data/22.04_5.15.98-rt62-raspi.png) |
| 22.04 (Jammy) | Humble | Raspberry Pi 5 | ❌ | N/A |
| 24.04 (Noble) | Jazzy | Raspberry Pi 3 | ✅(1) | [330 μs](./latency-analysis/data/24.04_6.8.4-rt11-raspi_rpi3b.png) (avg = 100 μs) |
| 24.04 (Noble) | Jazzy | Raspberry Pi 4 | ✅ | [82 μs](./latency-analysis/data/24.04_6.8.4-rt11-raspi_rpi4.png) |
| 24.04 (Noble) | Jazzy | Raspberry Pi 5 | ✅ | [34 μs](./latency-analysis/data/24.04_6.8.4-rt11-raspi_rpi5.png) |
*(1) Raspberry Pi 3 is usable but not recommended for 1000 Hz applications due
to the excessive scheduling latency from the weak CPU.*
The latency measurements are from the worst-case scheduling latency observed
with 2 hours of CPU stress test alongside cyclictest. All tests done at the
stock CPU frequency of the image. See [this script](./latency-analysis/run_latency_experiment.sh)
for details.
How to
------
Before you start, you need an SD card that is at least 8GB in size.
1. Download the desired image from [the releases page](https://github.com/ros-realtime/ros-realtime-rpi4-image/releases).
2. The image is compressed with the `zstd` compression format. You will need to
decompress it via the command `zstd -d filename.img.zst`. You may need to
install zstd via:
1. On Mac: `sudo port install zstd` or `brew install zstd`
2. On Ubuntu: `sudo apt-get install zstd`
3. On Windows: Install the executable from [here](https://github.com/facebook/zstd/releases).
3. After decompressing the image: the easiest way to flash the image is via the [Raspberry Pi imager](https://www.raspberrypi.com/software/).
1. Using the Raspberry Pi Image, click `CHOOSE OS`.
2. Scroll all the way down and click `Use custom`.
3. Browse and select the image file.
4. Select the storage device.
5. Click `Write` to flash the image.
6. Wait for it to be done.
4. Unplug the SD card and plug it into the Raspberry Pi. Turn on the Raspberry
Pi.
5. The default username is `ubuntu` and the password is `ubuntu`. The default
hostname is `ubuntu`. You can login either directly on the Raspberry Pi or
via SSH (enabled by default). You'll need to change your password the first
time you login.
6. To save space, the image does not have the desktop environment installed. If
you want a desktop environment, you must install it with the following three
commands:
```
sudo apt update && sudo apt upgrade
sudo apt install ubuntu-desktop
sudo apt install ros-jazzy-desktop
```
7. You can now use ROS 2. To confirm, type `ros2` into the terminal. You should
see:
```
usage: ros2 [-h] [--use-python-default-buffering] Call `ros2 <command> -h` for more detailed usage. ...
ros2 is an extensible command-line tool for ROS 2.
options:
-h, --help show this help message and exit
[...omitted for brevity]
```
8. The setup is now complete! You can follow the rest of the [ROS 2 tutorials
here](https://docs.ros.org/en/rolling/Tutorials.html).
Bonus setup
-----------
### Setup WiFiExcerpt of 11,269 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:dadd2dcdaf85a369, topic:ros, topic:ros2