ROS2 on Ubuntu Server 22.04 in RaspberryPi4

Setup Ubuntu

ubuntu login: ubuntu
Password: ubuntu
#change passwd 

ls /sys/class/net
ls /etc/netplan/
udo vi /etc/netplan/50-cloud-init.yaml
{
    wifis:
        wlan0:
            optional: true
            access-points:
                "SSID-NAME-HERE":
                    password: "PASSWORD-HERE"
            dhcp4: true
}
sudo reboot
sudo netplan --debug apply
ip a

sudo apt update
sudo apt install net-tools
sudo apt install htpdate
timedatectl set-timezone Asia/Bangkok
sudo apt install zram-config
sudo apt install ubuntu-desktop
sudo reboot

sudo vi /boot/firmware/config.txt
{
dtoverlay=vc4-fkms-v3d
}
sudo reboot

sudo apt install software-properties-common
sudo add-apt-repository universe

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install ROS core

sudo apt upgrade
sudo apt update
sudo apt install ros-humble-ros-base
sudo apt install python3-colcon-common-extensions

Setup ROS2 environment

source /opt/ros/humble/setup.bash
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
sudo apt install ros-humble-example-interfaces

Setup Unitree LidarL1 sdk

sudo apt-get install ros-humble-pcl-conversions
sudo apt install libeigen3-dev

git clone https://github.com/unitreerobotics/unilidar_sdk.git
cd unilidar_sdk/unitree_lidar_ros2
colcon build

mkdir -p point_lio_unilidar/src
cd point_lio_unilidar/src
git clone https://github.com/unitreerobotics/point_lio_unilidar.git
cd ..
colcon build

RUN