picrawler-bootstrap

One-shot bootstrap script for Raspberry Pi Zero 2 W (64-bit Raspberry Pi OS) + SunFounder PiCrawler.

Bootstrap

curl -fsSL https://raw.githubusercontent.com/halr9000/picrawler-bootstrap/main/picrawler-setup.sh | bash -s -- --headless

Interactive (prompts before each step):

curl -fsSL https://raw.githubusercontent.com/halr9000/picrawler-bootstrap/main/picrawler-setup.sh | bash

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Packing List

Module	Description
syspkgs	apt system packages (build-essential, python3, i2c-tools, ffmpeg, …)
hwgroups	Adds user to gpio, i2c, spi groups + udev rule for /dev/gpiomem
nvm	Node Version Manager v0.40.1
node	Node.js LTS via nvm
pnpm	pnpm package manager
uv	uv + uvx Python toolchain
robot-hat	SunFounder robot-hat Python library
vilib	SunFounder vilib vision library (picamera2 branch)
picrawler	SunFounder picrawler library
demos	claw9000-demos cloned to ~/claw9000-demos
i2samp	i2s amplifier / speaker support
interfaces	Enables I2C + camera via raspi-config
profile	Adds NVM/pnpm PATH entries to ~/.bashrc

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CLI options

--headless          Non-interactive; auto-answer yes to all prompts
--skip  <modules>   Comma-separated modules to skip
--only  <modules>   Run only these modules (skips all others)
--list              Print all module names and exit
--help              Show usage

Examples:

# Skip two packages
./picrawler-setup.sh --skip vilib,uv

# Only re-run hardware group setup
./picrawler-setup.sh --only hwgroups

# Fully automated first-boot (stock Pi OS has passwordless sudo by default)
curl -fsSL https://raw.githubusercontent.com/halr9000/picrawler-bootstrap/main/picrawler-setup.sh | bash -s -- --headless

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Post-install sequence

When all modules complete without errors the script automatically:

1. Smoke test — runs ~/claw9000-demos/demos/stand_bob_sit.py via sudo so GPIO works before re-login (robot sits → stands → bobs × 3 → sits, ~15 sec).
2. Generates /opt/picrawler/tada.wav — a short C→E→G chime using ffmpeg.
3. Installs picrawler-tada.service — a systemd oneshot that plays the chime 5 seconds after every boot (after aplay.service).
4. Reboots in 5 seconds — press Ctrl-C to cancel.

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Hardware

• Raspberry Pi Zero 2 W — quad-core Cortex-A53 @ 1 GHz, 512 MB RAM
• SunFounder PiCrawler — 12-servo quadruped with Robot HAT, ultrasonic sensor, camera, speaker

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After reboot

# Verify I2C (should show Robot HAT address, typically 0x14 or 0x17)
i2cdetect -y 1

# Run a demo (no sudo needed after group membership takes effect post-reboot)
cd ~/claw9000-demos
python3 demos/stand_bob_sit.py

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Related

• claw9000-demos — demo programs for the PiCrawler
• SunFounder PiCrawler docs
• robot-hat
• vilib