working on scripts and extending README
This commit is contained in:
Lukas Bulwahn
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28
README
28
README
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@ -1,4 +1,4 @@
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This is a layer to provide ros in an openembedded linux system.
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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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PURPOSE of this document:
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@ -10,11 +10,14 @@ PURPOSE of this document:
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INSTALLATION:
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The repository only contains a layer for ros to be added to the existing yocto poky-danny-8.0 archive.
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The repository only contains a layer for ros that builds on top of the existing openembedded core layer.
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You can download the yocto poky-danny-8.0 archive, but then you should update the distutils.bbclass,
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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 <dir>, clone this repository into the subdirectory meta-ros.
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Add the meta-ros directory to your local bblayers.conf file
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In the directory of the layers, clone this repository into the subdirectory meta-ros.
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Add the meta-ros directory to your local bblayers.conf file.
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USE for native compilation on the VM (milestone M1):
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The commands
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@ -27,11 +30,22 @@ USE for native compilation on the VM (milestone M1):
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On the host system, run fetch_ros.sh in a fresh directory, e.g. ~/ros-repos/.
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It clones all ros repositories locally.
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Then adjust pathes in fuerte-ros-base.rosinstall to the local repositories.
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After starting the virtual machine, copy the installation script from the host system to the home directory with scp and execute it.
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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.sh .
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Adjust configuration in install.sh and then run
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sh ./install.sh
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The installation script installs ros and starts roscore.
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USE for cross-compilation (milestone M2):
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source oe-init-build-env
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bitbake ros
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momentarily fails at some point (see CURRENT STATE)
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CONTENT of the repository:
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@ -8,4 +8,4 @@ git clone git://github.com/wg-debs/ros-release.git
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git clone git://github.com/wg-debs/ros_comm-release.git
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git clone git://github.com/wg-debs/roscpp_core-release.git
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git clone git://github.com/wg-debs/rospack-release.git
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git clone git://github.com/wg-debs/std_msgs-release.git
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git clone git://github.com/wg-debs/std_msgs-release.git
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59
install.sh
59
install.sh
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@ -1,18 +1,67 @@
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#!/bin/bash
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## Installation script that should run in the virtual machine
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# copy it into the virtual machine with:
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# scp <user>@192.168.7.1:/<location of install.sh> .
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# and run it:
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# sh ./install.sh
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#
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# local setting (must be adjusted)
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USERNAME="lukas"
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REPOS_PATH="/home/lukas/ros-repos/"
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HOST_IP="192.168.7.1"
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# This script does the following steps:
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# create ssh login without password
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USERNAME = lukas
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REPOS_PATH = /home/lukas/ros_server/
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HOST_IP = 192.168.7.1
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#
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ssh-keygen -t rsa
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cat .ssh/id_rsa.pub | ssh $USERNAME@$HOST_IP 'cat >> .ssh/authorized_keys'
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# copy prepared rosinstall file
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scp $USERNAME@$HOST_IP:$REPOS_PATH/fuerte-ros-base.rosinstall .
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# create prepared rosinstall file
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cat > fuerte-ros-base.rosinstall << EOF
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- git:
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local-name: catkin
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uri: git://$HOST_IP/$REPOS_PATH/catkin-release
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version: debian/ros-fuerte-catkin_0.4.4_lucid
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- git:
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local-name: common_msgs
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uri: git://$HOST_IP/$REPOS_PATH/common_msgs-release
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version: debian/ros-fuerte-common-msgs_1.8.7_lucid
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- git:
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local-name: gencpp
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uri: git://$HOST_IP/$REPOS_PATH/gencpp-release
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version: debian/ros-fuerte-gencpp_0.3.4_lucid
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- git:
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local-name: genlisp
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uri: git://$HOST_IP/$REPOS_PATH/genlisp-release
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version: debian/ros-fuerte-genlisp_0.3.3_lucid
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- git:
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local-name: genmsg
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uri: git://$HOST_IP/$REPOS_PATH/genmsg-release
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version: debian/ros-fuerte-genmsg_0.3.10_lucid
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- git:
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local-name: genpy
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uri: git://$HOST_IP/$REPOS_PATH/genpy-release
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version: debian/ros-fuerte-genpy_0.3.7_lucid
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- git:
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local-name: ros
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uri: git://$HOST_IP/$REPOS_PATH/ros-release
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version: debian/ros-fuerte-ros_1.8.9_lucid
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- git:
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local-name: ros_comm
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uri: git://$HOST_IP/$REPOS_PATH/ros_comm-release
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version: debian/ros-fuerte-ros-comm_1.8.12_lucid
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- git:
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local-name: roscpp_core
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uri: git://$HOST_IP/$REPOS_PATH/roscpp_core-release
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version: debian/ros-fuerte-roscpp-core_0.2.5_lucid
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- git:
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local-name: rospack
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uri: git://$HOST_IP/$REPOS_PATH/rospack-release
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version: debian/ros-fuerte-rospack_2.0.13_lucid
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- git:
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local-name: std_msgs
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uri: git://$HOST_IP/$REPOS_PATH/std_msgs-release
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version: debian/ros-fuerte-std-msgs_0.4.8_lucid
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EOF
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# run rosinstall
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mkdir ~/ros
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rosinstall --catkin ~/ros fuerte-ros-base.rosinstall
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