[elpidiovaldez5]

The Raspberry Pi 3 is great for robotics.  Sadly I am overwhelmed by insurmountable opportunities !  I want to set up an OS which will let me accomplish all of the following:

• Install ROS (preferably Kinetic, preferably from binaries)
• Run Raspberry PI Camera V2 as a ROS node publishing video
• Use I2C bus
• I would prefer the most efficient (stripped down) system possible.   There is no need to support graphical UI

My current understanding is:

• Raspbian is efficient, optimised for Pi.  It supports I2C and Pi Camera V2, but not ROS without a lot of messing about.  I got ROS Kinetic going once - it took days to compile and needed a lot of manual patching
• Ubuntu Mate has an image for PI 3 WITH ROS.  There are issues using I2C and possibly Pi Camera, there are hints of solutions on the internet, but nothing I am sure will work

Has anybody managed to get ROS/Camera/I2C all going at the same time on any system ?  Are there any binaries for ROS  using Raspbian yet ?  Any recommendations ?  I want to get a stable OS with all the components I need installed and working before starting to code.

Thanks !

[keghn]

The new pi-top:
https://pi-top.com/

[infurl]

I recently bought a Navio2 board to use in a drone that I'm building. It adds sophisticated navigation and control capabilities to the Raspberry Pi 2 and 3 (multiple IMUs, magnetic sensors, GPS, dedicated IO processor) and the manufacturers of this board provide a complete image for Raspberry Pi 2 and 3 which comes with ROS, ardupilot, and everything else you might need for advanced robotics applications. You don't need to buy the board to download the image and use it.

https://emlid.com/shop/navio2/
https://docs.emlid.com/navio2/common/ardupilot/configuring-raspberry-pi/

[keghn]

Pigpio is a C library for the Raspberry which allows control of the GPIO.: 

http://abyz.me.uk/rpi/pigpio/cif.html#gpioSetAlertFunc