Update raspberry pi instructions for bookworm, which now requires venv

docs/raspberry_pi.md

@@ -3,7 +3,9 @@
 The non-gui moteus library will work on a Raspberry Pi out of the box:
 
 ```
-pip3 install moteus
+python -m venv --system-site-packages moteus-venv
+source moteus-venv/bin/activate
+pip install moteus
 ```
 
 However, neither pypi nor piwheels has a functioning pyside2 library,
@@ -13,10 +15,24 @@ following:
 
 ```
 sudo apt install python3-pyside2* python3-serial python3-can python3-matplotlib python3-qtconsole
-sudo pip3 install asyncqt importlib_metadata pyelftools
-sudo pip3 install --no-deps moteus moteus_gui
+
+source moteus-venv/bin/activate
+pip install asyncqt importlib_metadata pyelftools
+pip install --no-deps moteus moteus_gui
 ```
 
 # Running moteus_tool and tview #
 
 pi3hat specific options for these tools are documented at https://github.com/mjbots/pi3hat/blob/master/docs/reference.md#usage-with-client-side-tools
+
+Note that to use the pi3hat, all python scripts must be run as root.
+Using sudo is one mechanism to do so:
+
+```
+sudo apt install libraspberrypi-dev
+
+source moteus-venv/bin/active
+pip install moteus-pi3hat
+
+sudo moteus-venv/bin/tview
+```