# Real-time Raspberry Pi ROS 2 image updated for Jazzy and 24.04

**URL:** <https://discourse.openrobotics.org/t/real-time-raspberry-pi-ros-2-image-updated-for-jazzy-and-24-04/45047>\
**Category:** ROS General\
**Tags:** release, ros2, real-time\
**Created:** [July 5, 2025, 3:25pm UTC](https://discourse.openrobotics.org/t/real-time-raspberry-pi-ros-2-image-updated-for-jazzy-and-24-04/45047 "2025-07-05T15:25:56Z")\
**Posts on this page:** 7\
**Page:** 1

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**Author:** ![shuhao](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/shuhao/32/12294_2.png) [@shuhao](https://discourse.openrobotics.org/u/shuhao)\
**Post date:** [July 5, 2025, 3:25pm UTC](https://discourse.openrobotics.org/t/real-time-raspberry-pi-ros-2-image-updated-for-jazzy-and-24-04/45047/1 "2025-07-05T15:25:56Z")

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Some of you may remember the ROS 2 real-time image for Raspberry Pi that I [presented at ROScon 2022](https://roscon.ros.org/2022/#:~:text=A%20Raspberry%20Pi%20image%20with%20ROS%202%20%2B%20RT%20and%20a%20customizable%20image%20builder) or in [a previous post](http://discourse.ros.org/t/ros-2-raspberry-pi-4-image-with-the-real-time-kernel-as-presented-in-roscon-2022-and-future-work-nvidia/27994). @razr and I have worked on it and updated it to support ROS 2 Jazzy and Ubuntu 24.04. I just created a release for it here: [Releases · ros-realtime/ros-realtime-rpi4-image · GitHub](https://github.com/ros-realtime/ros-realtime-rpi4-image/releases)

Contrary to the previous efforts, this image now supports Raspberry Pi 3, 4, and 5! This gives a wider range of choices for people interested in running ROS on Raspberry Pis. I’m particularly excited to start using this on the Raspberry Pi 5 which gives exceptional performance both for normal code and in-terms of delivering a low scheduling latency.

Here are some preliminary real-time scheduling latency results based on measuring cyclictest latency during a heavy CPU stress test.

| Model | Result |
| --- | --- |
| Raspberry Pi 3 | ![](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/d/3/d309c9acca209e0c4d5691c0f1ecf0e88b1bc7e1.png) |
| Raspberry Pi 4 | ![](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/2/1/216e2e31bbf8c83b773c0a681beba08f5d8a06ea.png) |
| Raspberry Pi 5 | ![](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/0/a/0a6eca348eb2c2ccd04f858ee627bd2cc5c81c5d.png) |

Enjoy!

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**Author:** ![saikishor](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/saikishor/32/26420_2.png) [@saikishor](https://discourse.openrobotics.org/u/saikishor)\
**Post date:** [July 5, 2025, 4:01pm UTC](https://discourse.openrobotics.org/t/real-time-raspberry-pi-ros-2-image-updated-for-jazzy-and-24-04/45047/2 "2025-07-05T16:01:49Z")

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This is great. Thank you 👏🏽

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**Author:** ![Alan\_Federman](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/alan_federman/32/3860_2.png) [@Alan\_Federman](https://discourse.openrobotics.org/u/Alan_Federman)\
**Post date:** [July 9, 2025, 4:31pm UTC](https://discourse.openrobotics.org/t/real-time-raspberry-pi-ros-2-image-updated-for-jazzy-and-24-04/45047/3 "2025-07-09T16:31:07Z")

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Just wondering if the only way to configure and test is via a wired Ethernet?  
My download did not include the nmcli, so no easy way to configure wireless was apparent.

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**Author:** ![shuhao](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/shuhao/32/12294_2.png) [@shuhao](https://discourse.openrobotics.org/u/shuhao)\
**Post date:** [July 10, 2025, 8:56pm UTC](https://discourse.openrobotics.org/t/real-time-raspberry-pi-ros-2-image-updated-for-jazzy-and-24-04/45047/4 "2025-07-10T20:56:59Z")

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This is documented: [GitHub - ros-realtime/ros-realtime-rpi4-image: An image for the Raspberry Pi 4 with ROS 2 and Linux RT preinstalled](https://github.com/ros-realtime/ros-realtime-rpi4-image?tab=readme-ov-file#setup-wifi-before-booting)

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**Author:** ![azmyin12](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/azmyin12/32/22409_2.png) [@azmyin12](https://discourse.openrobotics.org/u/azmyin12)\
**Post date:** [March 18, 2026, 2:11pm UTC](https://discourse.openrobotics.org/t/real-time-raspberry-pi-ros-2-image-updated-for-jazzy-and-24-04/45047/5 "2026-03-18T14:11:15Z")

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Was wondering, after installing your real-time kernel, would Moveit 2 work with this distribution?

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**Author:** ![christian](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/christian/32/14876_2.png) [@christian](https://discourse.openrobotics.org/u/christian)\
**Post date:** [March 18, 2026, 2:23pm UTC](https://discourse.openrobotics.org/t/real-time-raspberry-pi-ros-2-image-updated-for-jazzy-and-24-04/45047/6 "2026-03-18T14:23:37Z")

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Are the Debian packages of the PREEMPT\_RT kernel builds available separately, so they can be installed on a “standard” RPi5 Ubuntu installation? Or does this only work with the full image you provided?

How does this compare to the real-time kernel provided by Ubuntu ([How to enable Real-time Ubuntu on your machine&nbsp; | Ubuntu](https://ubuntu.com/blog/enable-real-time-ubuntu))?

Regarding the latency tests, is the documentation at [ros-realtime-rpi4-image/latency-analysis at master · ros-realtime/ros-realtime-rpi4-image · GitHub](https://github.com/ros-realtime/ros-realtime-rpi4-image/tree/master/latency-analysis) sufficient to reproduce your results?

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**Author:** ![Russ76](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/russ76/32/9233_2.png) [@Russ76](https://discourse.openrobotics.org/u/Russ76)\
**Post date:** [June 9, 2026, 2:08am UTC](https://discourse.openrobotics.org/t/real-time-raspberry-pi-ros-2-image-updated-for-jazzy-and-24-04/45047/7 "2026-06-09T02:08:06Z")

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After installing this OS, how do we connect to it? Is there a tutorial or some directions? I installed it with a password, but after booting, it asks for a public key!