Migrating the Sentinel Governance API to Raspberry Pi 5

​Introduction: Why Physical Governance Matters ​In the first phase of Project Aura, we successfully simulated the Sentinel API—our custom robotics safety layer—within a VirtualBox environment. However, real-world robotics requires Edge Intelligence. To achieve sub-millisecond latency in safety decisions, we are moving the "Brain" of Aura onto dedicated hardware: the Raspberry Pi 5 (8GB). ​In this guide, we will walk through the "Silicon-to-Steel" migration, ensuring our ROS 2 Jazzy environment is optimized for hardware-in-the-loop (HIL) testing. Hardware Specifications & Thermal Management ​Running an AI-driven governance node on the edge generates significant heat. For this build, we are utilizing: ​Micro-controller: Raspberry Pi 5 (8GB) ​OS: Ubuntu 24.04 LTS (Optimized for ARM64) ​Cooling: Official Raspberry Pi Active Cooler (Essential for maintaining clock speeds during AI inference) ​Power: 25W USB-C PD Power Supply to prevent under-voltage throttling. Environment Preparation: ROS 2 Jazzy on ARM64 ​Before we can deploy the Sentinel API, we must prepare the Ubuntu 24.04 environment. Open your terminal on the Pi and execute the following: 
# Update and Upgrade the System
sudo apt update && sudo apt upgrade -y

# Install ROS 2 Jazzy Base
sudo apt install ros-jazzy-ros-base python3-argcomplete -y
4. Sim-to-Real Connectivity ​To link our NVIDIA Isaac Sim environment (running on the main PC) to the Raspberry Pi 5, we use a dedicated ROS 2 Bridge. This allows us to test the hardware's response time to simulated emergencies before we plug in actual motors.

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