Install ros2-jazzy and depthai_ros_driver on Debian 12 Bookworm Arm64

This guide explains how to install ROS 2 Jazzy and depthai_ros_driver on Debian 12 Bookworm ARM64 (Raspberry Pi 4 / 5).

System Requirements

Required:

• Debian 12 Bookworm (64-bit)
• ARM64 (aarch64)
• At least 20GB free disk space
• OAK camera device

Check architecture:

uname -m

Expected:

aarch64

Install ROS2

1. Install Base Dependencies

apt update

apt install -y \
    git colcon python3-rosdep2 vcstool wget \
    python3-flake8-docstrings python3-pip python3-pytest-cov \
    python3-flake8-blind-except python3-flake8-builtins python3-flake8-class-newline \
    python3-flake8-comprehensions python3-flake8-deprecated \
    python3-flake8-import-order python3-flake8-quotes python3-pytest-repeat \
    python3-pytest-rerunfailures python3-vcstools

2. Source code

mkdir -p ~/ros2_jazzy/src
cd ~/ros2_jazzy

vcs import --input https://raw.githubusercontent.com/ros2/ros2/jazzy/ros2.repos src

3. Initialize rosdep

rm /etc/ros/rosdep/sources.list.d/20-default.list

apt upgrade

rosdep init
rosdep update

4. Install ROS Dependencies

rosdep install -y \
    --from-paths src \
    --ignore-src  \
    --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers python3-vcstool"

5. Build ROS2

cd ~/ros2_jazzy/src/ros2

touch geometry2/tf2_bullet/COLCON_IGNORE
touch rviz/COLCON_IGNORE

Remove the demo to reduce build time:

cd ~/ros2_jazzy
rm -rf src/ros2/demos

```bash
colcon build --parallel-workers 2 --cmake-args -DBUILD_TESTING=OFF

6. Source ROS Environment

Add to shell:

echo "source ~/ros2_jazzy/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

Verify:

ros2 doctor

Install Depthai_ros_driver

1. Install Base dependencies:

apt update && apt install -y \
    zip build-essential cmake git pkg-config \
    libusb-1.0-0-dev libopencv-dev libarchive-dev \
    libcurl4-openssl-dev libyaml-cpp-dev libspdlog-dev \
    nlohmann-json3-dev libbz2-dev zlib1g-dev liblzma-dev \
    libssl-dev xtensor-dev libprotobuf-dev protobuf-compiler \
    libapriltag-dev libcpp-httplib-dev libfmt-dev libfp16-dev \
    libboost-python-dev libboost-numpy-dev python3-dev

2. Fix libspdlog

mkdir -p /usr/local/include/spdlog/fmt

cat << 'EOF' > /usr/local/include/spdlog/fmt/std.h
#pragma once
#include <fmt/std.h>
EOF

3. Build depthai-core

cd ~
git clone --branch v3.2.2-jazzy.1 https://github.com/luxonis/depthai-core.git

cd ~/depthai-core
git submodule sync --recursive
git submodule update --init --recursive

cmake -S . -B build -D BUILD_SHARED_LIBS=ON -D CMAKE_BUILD_TYPE=Release

cmake --build build --parallel 2

cmake --install build

ldconfig

4. Clone depthai-ros

Create workspace:

mkdir -p ~/dai_ws/src
cd ~/dai_ws/src

Clone:

git clone --branch v3.2.1-jazzy https://github.com/luxonis/depthai-ros.git

git clone -b jazzy https://github.com/ros-perception/vision_msgs.git

git clone -b ros2 https://github.com/ros/xacro.git

git clone -b rolling https://github.com/ros-perception/vision_opencv.git

git clone -b ros2-jazzy https://github.com/ros/diagnostics.git

git clone https://github.com/pal-robotics/backward_ros.git

git clone https://github.com/ros-misc-utilities/ffmpeg_image_transport_msgs.git

Check Version Tag:

cd ~/depthai-core && git describe --tags
cd ~/dai_ws/src/depthai-ros && git describe --tags

5. Install depthai-ros Dependencies

Run:

cd ~/dai_ws

rosdep install \
  --from-paths src \
  --ignore-src \
  -r \
  -y \
  --skip-keys "depthai depthai-v3 depthai_v3 cv_bridge image_geometry rviz2 rviz_common rviz_default_plugins rviz_rendering rviz_imu_plugin foxglove_msgs ffmpeg_image_transport_msgs image_transport_plugins"

6. Build depthai-ros

Build only required packages:

cd ~/dai_ws

MAKEFLAGS="-j2 -l2" colcon build --parallel-workers 2 --packages-up-to depthai_ros_driver_v3

7. Source depthai Workspace

echo "source ~/dai_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc