Hello all, I've working on upstreaming ROS2 Docker images into the Official Library in time for the Crystal release: https://github.com/osrf/docker_images/pull/206 While doing so, I wondered how feasible support for arm32v7 would be. Many hobbyist and students still rely on older low-end embedded arm devices, such as raspberry pies. Even the TurtleBot3 currently ships with a 32bit install. To help facilitate ROS2 adoption, I'd suspect better coverage for multi-arch support via pre-built binaries will go a long way towards encouraging migration and general community growth. Looking at the current `pull_counts` for ROS1 and Ubuntu on Docker Hub, we see as of writing: | Repo | amd64 | arm64v8 | arm32v7 | |---|---|---|---| | ROS1 | [21356 (70.38%)](https://hub.docker.com/v2/repositories/amd64/ros/) | [6340 (20.89%)](https://hub.docker.com/v2/repositories/arm64v8/ros/) | [2650 (8.73%)](https://hub.docker.com/v2/repositories/arm32v7/ros/) | | Ubuntu | [60587 (24.25%)](https://hub.docker.com/v2/repositories/amd64/ubuntu/) | [30705 (12.29%)](https://hub.docker.com/v2/repositories/arm64v8/ubuntu/) | [158590 (63.47%)](https://hub.docker.com/v2/repositories/arm32v7/ubuntu/) | | Debian | [88440 (32.33%)](https://hub.docker.com/v2/repositories/amd64/debian/) | [62128 (22.71%)](https://hub.docker.com/v2/repositories/arm64v8/debian/) | [122963 (44.95%)](https://hub.docker.com/v2/repositories/arm32v7/debian/) | > Note: these pull counts don't seem to sum even close to the total pull counts from the official library aggregating these for multi-arch. I assume these counts are rather fresh, perhaps wrt `last_updated`. As we can see, arm32v7 makes a substantial proportion of the number of pulls, even more so for base images. I recognise arm32v7 (armhf) isn't yet listed under any "Support Tier", so I'll petition here that adding support for arm32v7 could be worthwhile for the community: https://github.com/ros-infrastructure/rep/pull/177 As an exploratory mesure, I went and built ROS2 from source using the current master, and was able to complete in about `1h 19min 23s` on my workstation using qemu emulation via docker, use the same methods described in: https://discourse.ros.org/t/announcing-ros-docker-images-for-arm-and-debian/2467 https://github.com/computermouth/qemu-static-conf https://github.com/ruffsl/docker_images/commit/f96fbe538650c58cdf44e6e30514904caa862f95 I've uploaded the logs here for folks to paruse: [arm32v7_ros2_bouncy_source_logs.zip]( https://drive.google.com/file/d/13-PKPvjirCGYrWwFArTuoi2OkDgDoEsU/view?usp=sharing) As well as the resulting docker image here you may test locally: https://hub.docker.com/r/ruffsl/arm32v7_ros2/tags Cheers, @ruffsl --- [Visit Topic](https://discourse.ros.org/t/official-docker-images-for-ros2-crystal-and-arm32v7/6872/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: