README: updating to current state
This commit moves the description of previous uses in a separate file, adds the typical information for a README of an OpenEmbedded layer and describes the usage for the roscore image recipe.
This commit is contained in:
Lukas Bulwahn
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PREVIOUS USE CASES
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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.
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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 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 of ROS-fuerte on the qemu VM:
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The commands
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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.
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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
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The installation script installs ros and starts roscore.
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USE for native compilation of ROS-groovy on the qemu VM:
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The commands
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source oe-init-build-env
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bitbake core-image-ros-groovy
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builds our specifically configured linux image.
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With `runqemu qemux86 qemuparams="-m 2048" core-image-ros-groovy` the linux image runs within a virtual machine with 2048 MB of memory.
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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.
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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-groovy.sh .
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Adjust configuration in install-groovy.sh and then run
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sh ./install-groovy.sh
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The installation script installs ros and starts roscore.
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108
README
108
README
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@ -1,5 +1,6 @@
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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 Groovy Galapagos in an OpenEmbedded Linux system.
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Currently, this layer is still under development and not fully functional.
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Currently, this layer is still under development and only provides
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cross-compilation of the basic ros-comm packages.
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MAINTAINER
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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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Lukas Bulwahn, BMW Car IT GmbH <lukas.bulwahn@oss.bmw-carit.de>
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@ -16,98 +17,61 @@ We are still working on this development and are interested in other use cases.
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If you are interested in this project, please contact us via email.
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If you are interested in this project, please contact us via email.
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The more people are interested, the more we will be pushing this project.
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The more people are interested, the more we will be pushing this project.
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If you want to contribute, please contact us and we can discuss open issues
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If you want to contribute, please contact us and we can discuss open issues
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and how we could join forces.
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and how to join forces.
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PURPOSE of this document:
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DEPENDENCIES
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This document describes
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- the state of the current work
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This layer depends on:
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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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URI: git://git.openembedded.org/openembedded-core
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branch: master
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revision: HEAD
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URI: git://git.openembedded.org/meta-openembedded
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layers: meta-oe
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branch: master
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revision: HEAD
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STATE OF THIS WORK:
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INSTALLATION
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This repository provides
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The repository contains a layer for ROS that builds on top of the
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- Native compilation of ROS-fuerte
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OpenEmbedded Core layer and the meta-oe layer.
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- Native compilation of ROS-groovy
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- Cross compilation of ROS-groovy (under development)
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INSTALLATION/SETUP:
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We believe it should work with the current HEAD of the layers mentioned above.
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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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As a further reference, here are the version I currently work with:
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and the meta-oe layer.
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Currently, I work with
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* commit 395b90054eccddc1c9062a9a8657ed4482b7710a of https://github.com/openembedded/oe-core
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* commit 395b90054eccddc1c9062a9a8657ed4482b7710a of https://github.com/openembedded/oe-core
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* commit 2a5dea2399e2be5e5d964eda7465dcaf4c2e152b of https://github.com/openembedded/meta-oe
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* commit 2a5dea2399e2be5e5d964eda7465dcaf4c2e152b of https://github.com/openembedded/meta-oe
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* commit 324ed96e28ec31cff8cef1824d20d40f9a5d46ad of git://git.openembedded.org/bitbake in the bitbake directory
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* commit 324ed96e28ec31cff8cef1824d20d40f9a5d46ad of git://git.openembedded.org/bitbake in the bitbake directory
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USE for cross-compilation of ROS-groovy (in development):
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USAGE
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Currently, we can cross-compile the ROS packages with the commands:
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Currently, you can cross-compile the ROS packages with the commands:
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source oe-init-build-env
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source oe-init-build-env
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bitbake <package-name>
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bitbake <package-name>
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Look at the meta-ros test reports for the description of the current state.
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Look at the meta-ros test reports for the description of the current state.
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PREVIOUS USE CASES
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The recipe core-image-ros-groovy-qemux86-running-roscore provides a minimal
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Linux system that runs roscore on the qemu x86 virtual machine.
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You can compile the minimal Linux system with
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bitbake core-image-ros-groovy-qemux86-running-roscore
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INSTALLATION:
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Then, you start this system with
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runqemu qemux86 core-image-ros-groovy-qemux86-running-roscore
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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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In the qemu shell, set up the environment with
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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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export ROS_ROOT=/usr
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and maybe also the url of libarchive.
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export ROS_MASTER_URI=http://localhost:11311
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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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export CMAKE_PREFIX_PATH=/usr
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touch /usr/.catkin
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In the directory of the layers, clone this repository into the subdirectory meta-ros.
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Finally, you can start roscore with
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Add the meta-ros directory to your local bblayers.conf file.
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roscore
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USE for native compilation of ROS-fuerte on the qemu VM:
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The commands
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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.
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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
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The installation script installs ros and starts roscore.
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USE for native compilation of ROS-groovy on the qemu VM:
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The commands
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source oe-init-build-env
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bitbake core-image-ros-groovy
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builds our specifically configured linux image.
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With `runqemu qemux86 qemuparams="-m 2048" core-image-ros-groovy` the linux image runs within a virtual machine with 2048 MB of memory.
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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.
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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-groovy.sh .
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Adjust configuration in install-groovy.sh and then run
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sh ./install-groovy.sh
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The installation script installs ros and starts roscore.
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LICENSE
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LICENSE
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