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This is a layer to provide ROS in an OpenEmbedded Linux system.
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Currently, this layer is still under development and not fully functional.
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MAINTAINER
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Lukas Bulwahn, BMW Car IT GmbH <lukas.bulwahn@oss.bmw-carit.de>
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CONTRIBUTORS
Lukas Bulwahn, BMW Car IT GmbH <lukas.bulwahn@oss.bmw-carit.de>
Stefan Herbrechtsmeier, Bielefeld University <stefan@herbrechtsmeier.net>
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HOW TO CONTRIBUTE
We are still working on this development and are interested in other use cases.
If you are interested in this project, please contact us via email.
The more people are interested, the more we will be pushing this project.
If you want to contribute, please contact us and we can discuss open issues
and how we could join forces.
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PURPOSE of this document:
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This document describes
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- the state of the current work
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- the installation and use of the git repository meta_ros
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- license information and origin of redistributed files
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STATE OF THIS WORK:
This repository provides
- Native compilation of ROS-fuerte
- Native compilation of ROS-groovy
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- Attempt of cross-compilation of ROS-fuerte (discontinued)
- Cross-compilation of catkin 0.5.58 (shipped with ROS-groovy)
- catkin 0.5.58 setup for cross-compiling catkin packages
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- Attempt of cross-compilation of ROS-groovy (in development)
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INSTALLATION:
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The repository only contains a layer for ros that builds on top of the existing openembedded core layer.
You can download the yocto poky-danny-8.0 archive, but then you should update the distutils.bbclass,
and maybe also the url of libarchive.
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To install, unpack http://downloads.yoctoproject.org/releases/yocto/yocto-1.3/poky-danny-8.0.tar.bz2 into a directory <dir>.
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In the directory of the layers, clone this repository into the subdirectory meta-ros.
Add the meta-ros directory to your local bblayers.conf file.
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USE for native compilation of ROS-fuerte on the qemu VM:
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The commands
source oe-init-build-env
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bitbake core-image-ros-fuerte
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builds our specifically configured linux image.
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With `runqemu qemux86 qemuparams="-m 2048" core-image-ros-fuerte` the linux image runs within a virtual machine with 2048 MB of memory.
We assumed that this is running on and compiled for an x86 architecture. For other architectures, some settings must be adjusted.
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On the host system, run fetch-ros-fuerte.sh in a fresh directory, e.g. ~/ros-repos/.
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It clones all ros repositories locally.
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After starting the virtual machine, copy the installation script from the host system to the home directory with scp.
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scp lukas@192.168.7.1:/<location of repository>/install-fuerte.sh .
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Adjust configuration in install-fuerte.sh and then run
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sh ./install-fuerte.sh
The installation script installs ros and starts roscore.
USE for native compilation of ROS-groovy on the qemu VM:
The commands
source oe-init-build-env
bitbake core-image-ros-groovy
builds our specifically configured linux image.
With `runqemu qemux86 qemuparams="-m 2048" core-image-ros-groovy` the linux image runs within a virtual machine with 2048 MB of memory.
We assumed that this is running on and compiled for an x86 architecture. For other architectures, some settings must be adjusted.
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On the host system, run mk_srcarchive.sh in some clean temporary directory.
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It copies all ros sources from their URLs and puts them into one src.tar.gz archive.
After starting the virtual machine, copy the installation script from the host system to the home directory with scp.
scp lukas@192.168.7.1:/<location of repository>/install-groovy.sh .
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Adjust configuration in install-groovy.sh and then run
sh ./install-groovy.sh
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The installation script installs ros and starts roscore.
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USE for cross-compilation of ROS-fuerte (discontinued):
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source oe-init-build-env
bitbake ros
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momentarily fails at some point with:
> CMake Error at catkin/cmake/find_program_required.cmake:5 (message):
> check_test_ran.py not found
> Call Stack (most recent call first):
> ../catkin/CMakeFiles/tests.cmake:31 (find_program_required)
> ../catkin/CMakeFiles/tests.cmake:41 (catkin_initialize_tests)
> catkin/cmake/all.cmake:54 (include)
> catkin/CMakeLists.txt:12 (include)
>
>
>
> -- Configuring incomplete, errors occurred!
>
>
> ERROR: Function failed: do_configure (see /home/lukas/NEW/poky-danny-8.0/build/tmp/work/i586-poky-linux/ros-1.0-r0/temp/log.do_configure.9702 for further information)
> ERROR: Logfile of failure stored in: /home/lukas/NEW/poky-danny-8.0/build/tmp/work/i586-poky-linux/ros-1.0-r0/temp/log.do_configure.9702
USE for cross-compilation of ROS-groovy (in development):
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Currently, we can cross-compile 4 packages:
ros-cpp-common, rostime, roscpp-traits, roscpp-serialization (packages in roscpp_core)
with the commands:
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source oe-init-build-env
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bitbake <package-name>
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LICENSE
All metadata is MIT licensed unless otherwise stated. Source code included
in tree for individual recipes is under the LICENSE stated in each recipe
(.bb file) unless otherwise stated.
This README document is Copyright (C) 2012 BMW Car IT GmbH.
REDISTRIBUTIONS
The log4cxx recipe originated from the recipe in the OpenEmbedded (Classic) Development
(cf. http://cgit.openembedded.org/openembedded/tree/recipes/log4cxx)
licensed with the MIT License.
The core-image-ros recipe originated from the core-image-minimal recipe in OpenEmbedded Core
(cf. http://cgit.openembedded.org/openembedded-core/tree/meta/recipes-core/images/core-image-minimal.bb)
licensed with the MIT License.
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The distutils class originated from the distutils class in OpenEmbedded Core
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(cf. http://cgit.openembedded.org/openembedded-core/tree/meta/classes/distutils.bbclass)
licensed with the MIT License.
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The libtinyxml recipe originated from the recipe in the OpenEmbedded meta layer
(cf. http://cgit.openembedded.org/meta-openembedded/tree/meta-oe/recipes-support/libtinyxml)
licensed with the MIT License.
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The modified files are redistributed here under the same MIT License.
