XPI-Blocks: The ROS2 & Raspberry Pi Building Blocks Library

XPI-Blocks is a comprehensive, modular, and perfectly documented library of examples (blocks) for ROS2 and Raspberry Pi. Its mission is to lower the barrier to entry for robotics and enable intelligent behaviors through LLM/VLM integration. Each block includes a clean ROS2 Node (Python/C++), hardware interface, launch file, and documentation (wiring diagram, BOM, topic interfaces, verification command). The project uses Ubuntu Server 22.04 LTS for Raspberry Pi, ROS2 Humble Hawksbill, and supports flexible LLM/VLM backends (Gemini, OpenRouter, Ollama). It provides standardized Hardware Abstraction Layers (HAL) for GPIO, I2C, SPI, and UART, and includes Dockerfile support for rapid deployment.