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I can concur with the answer as I recently successfully installed ROS2 Foxy2 from Debian packages (ros-foxy-ros-base) on Ubuntu-Mate - Raspberry Pi4/4G w/32GB sd, I increased the swap to 4GB. In addition installed the required dependencies and compiled ROS2 source code for the Luxonis OAk-D-Lite camera “depthai-ros” packages that include rgb and depth/pointcloud processing and display. Had to add the image_view and rviz gui packages to visualize the camera image locally. The work required carefully attention to the details and some bug workarounds, but completed successfully.