DEXI OS Image Builder

Custom Raspberry Pi OS images for DEXI drone systems with pre-configured ROS2, networking, and development tools.

• Build Script: build_raspberry_pi_os_ark_cm4.sh
• Packer Config: raspberry_pi_os_ark_cm4.pkr.hcl
• Provision Script: resources_raspberry_pi_os/provision_ark_cm4.sh
• Output Image: dexi_raspberry_pi_os_ark_cm4.img

• Build Script: build_raspberry_pi_os_pi5.sh
• Packer Config: raspberry_pi_os_pi5.pkr.hcl
• Provision Script: resources_raspberry_pi_os/provision_pi_os_pi5.sh
• Output Image: dexi_raspberry_pi_os_pi5.img

• Docker with privileged access
• Base image: bookwork_jazzy_docker_shrinked.img.gz.xz in base_images/
• Minimum 30GB output image size
• ARM64 QEMU static binary for cross-compilation

1. Build CM4 image:

   ./build_raspberry_pi_os_ark_cm4.sh

2. Build Pi5 image:

   ./build_raspberry_pi_os_pi5.sh

• Base OS: Raspberry Pi OS Bookworm with ROS2 Jazzy
• Essential packages: vim, libi2c-dev
• I2C support: Enabled with kernel module auto-loading

• ROS2 Jazzy: Complete installation with workspace setup
• ROSBridge: Web interface for ROS communication
• Micro-ROS Agent: Microcontroller communication
• Computer Vision: AprilTag detection, camera support, YOLO object detection
• Custom DEXI packages: Interfaces, LED control, camera, C++ core

• LED Control:
  • CM4: Adafruit NeoPixel libraries
  • Pi5: pi5neo library
• Camera:
  • CM4: CSI camera with libcamera
  • Pi5: USB camera support
• MAVLink Router: Drone communication protocol routing
• mavlink2rest: REST/WebSocket bridge on TCP :8088 (browser GCS such as px4-web-configurator over LAN/hotspot; pinned to upstream 1.0.2)

• WiFi Hotspot: Auto-configured with MAC-based SSID (dexi_XXXX)
• Default Password: droneblocks
• Network Management: dexi-wifi command for WiFi configuration
• Hotspot Creation: Automatic on first boot

• Node-RED: Visual programming interface (DroneBlocks/node-red-dexi)
• Docker: Container support with pre-configured services
• Code-server: VS Code in browser (if setup script available)

• DEXI Service: Auto-start ROS2 nodes on boot
• MAVLink Router: Automatic startup with failover
• Hotspot Setup: One-time service for WiFi configuration
• Hardware Configs: Platform-specific boot configurations

Images are built using Packer with ARM builder in Docker:

1. Extract base image (30GB partition)
2. Mount boot (256MB FAT) and root (ext4) partitions
3. Copy resources to /tmp/resources
4. Execute platform-specific provision script
5. Generate final compressed image

• Hotspot SSID: dexi_ + last 4 MAC address characters
• Default Password: droneblocks
• Web Dashboard: Available at http://192.168.4.1 after connecting to hotspot
• WiFi Setup: sudo dexi-wifi 'NetworkName' 'password'
• Web Access: Code-server and Node-RED available via hotspot

dexi-os/
├── base_images/                    # Base OS images
├── resources_raspberry_pi_os/      # Provision scripts and configs
├── raspberry_pi_os_*.pkr.hcl      # Packer configurations
├── build_raspberry_pi_os_*.sh     # Build scripts
└── *.img                          # Output images