removing now obsolete files for previous on-target compilation
This commit is contained in:
Lukas Bulwahn
parent
cfdcdfd649
commit
e5c6b21492
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@ -1,58 +0,0 @@
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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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git clone git://github.com/wg-debs/catkin-release.git
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git clone git://github.com/wg-debs/common_msgs-release.git
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git clone git://github.com/wg-debs/gencpp-release.git
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git clone git://github.com/wg-debs/genlisp-release.git
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git clone git://github.com/wg-debs/genmsg-release.git
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git clone git://github.com/wg-debs/genpy-release.git
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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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@ -1,102 +0,0 @@
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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-fuerte.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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#
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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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# create prepared rosinstall file
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URL="ssh://$USERNAME@$HOST_IP/$REPOS_PATH"
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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: $URL/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: $URL/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: $URL/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: $URL/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: $URL/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: $URL/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: $URL/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: $URL/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: $URL/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: $URL/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: $URL/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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# apply patch
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cd ~/ros/ros_comm
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patch -p1 << EOF
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diff -cr ros_comm/tools/rosbag/src/recorder.cpp ros_comm.patched/tools/rosbag/src/recorder.cpp
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*** ros_comm/tools/rosbag/src/recorder.cpp 2012-12-06 14:12:06.773910947 +0100
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--- ros_comm.patched/tools/rosbag/src/recorder.cpp 2012-12-06 14:14:49.145917680 +0100
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***************
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*** 436,442 ****
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break;
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}
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boost::xtime xt;
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! boost::xtime_get(&xt, boost::TIME_UTC);
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xt.nsec += 250000000;
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queue_condition_.timed_wait(lock, xt);
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if (checkDuration(ros::Time::now()))
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--- 436,442 ----
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break;
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}
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boost::xtime xt;
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! boost::xtime_get(&xt, boost::TIME_UTC_);
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xt.nsec += 250000000;
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queue_condition_.timed_wait(lock, xt);
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if (checkDuration(ros::Time::now()))
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EOF
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# cmake invocation
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cd ~/ros
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mkdir build
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cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=/opt/ros/fuerte -DSETUPTOOLS_DEB_LAYOUT=OFF
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# compile and install
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make
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make install
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# start roscore
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. /opt/ros/fuerte/setup.sh
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roscore
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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-groovy.sh
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#
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# local setting (must be adjusted)
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USERNAME="lukas"
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HOST_IP="192.168.7.1"
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SRC_DIRECTORY="/home/lukas/ros_catkin_ws"
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# This script does the following steps:
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# copy source archive
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scp $USERNAME@$HOST_IP:$SRC_DIRECTORY/src.tar.gz .
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mkdir ros_catkin_ws
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cd ros_catkin_ws
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# extract
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tar -xzf ../src.tar.gz
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# patch catkin
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patch -p1 << EOF
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*** A/src/catkin/cmake/python.cmake 2013-01-04 14:22:33.223884756 +0100
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--- B/src/catkin/cmake/python.cmake 2013-01-04 14:28:01.971898385 +0100
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***************
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*** 6,12 ****
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set(PYTHON_VERSION_XDOTY ${PYTHON_VERSION_XDOTY} CACHE STRING "Python version")
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#This should be resolved automatically one day...
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! option(SETUPTOOLS_DEB_LAYOUT "ON for debian style python packages layout" ON)
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if(APPLE OR MSVC)
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set(SETUPTOOLS_DEB_LAYOUT OFF)
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--- 6,12 ----
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set(PYTHON_VERSION_XDOTY ${PYTHON_VERSION_XDOTY} CACHE STRING "Python version")
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#This should be resolved automatically one day...
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! option(SETUPTOOLS_DEB_LAYOUT "ON for debian style python packages layout" OFF)
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if(APPLE OR MSVC)
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set(SETUPTOOLS_DEB_LAYOUT OFF)
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EOF
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# compile, make and install
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./src/catkin/bin/catkin_make_isolated --install
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# start roscore
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. install_isolated/setup.sh
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roscore
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wget -O ros_comm http://packages.ros.org/web/rosinstall/generate/raw/groovy/ros_comm
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mkdir -p archives
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grep -e "- tar: {local-name: .*, uri: '.*'," ros_comm | sed "s#- tar: {local-name: \(.*\), uri: '\(.*\)',#wget -O archives/\1.tar.gz \2 \&\& mkdir -p src/\1 \&\& tar --strip-components=1 -xzf archives/\1.tar.gz -C src/\1/ #" | sh
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tar -czf src.tar.gz src
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DESCRIPTION = "A small image just capable of allowing a device to boot."
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IMAGE_INSTALL = "packagegroup-core-boot ${ROOTFS_PKGMANAGE_BOOTSTRAP} ${CORE_IMAGE_EXTRA_INSTALL}"
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IMAGE_LINGUAS = " "
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LICENSE = "CLOSED"
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inherit core-image
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IMAGE_ROOTFS_EXTRA_SPACE = "524288"
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IMAGE_FEATURES += "tools-sdk"
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# add own name to hosts
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augment_hosts_setting_file () {
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echo '127.0.0.1\tqemux86.localdomain\t\tqemux86' >> ${IMAGE_ROOTFS}/etc/hosts
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}
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# remove not needed ipkg informations
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# create a custom hosts file
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ROOTFS_POSTPROCESS_COMMAND += "remove_packaging_data_files ; augment_hosts_setting_file ; "
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IMAGE_INSTALL += "packagegroup-core-ssh-openssh git cmake \
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boost boost-dev log4cxx log4cxx-dev libbz2-dev \
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python-modules python-empy python-pyyaml python-nose \
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python-setuptools python-rospkg python-rosinstall"
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DESCRIPTION = "A small image just capable of allowing a device to boot."
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IMAGE_INSTALL = "packagegroup-core-boot ${ROOTFS_PKGMANAGE_BOOTSTRAP} ${CORE_IMAGE_EXTRA_INSTALL}"
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IMAGE_LINGUAS = " "
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LICENSE = "CLOSED"
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inherit core-image
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IMAGE_ROOTFS_EXTRA_SPACE = "524288"
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IMAGE_FEATURES += "tools-sdk"
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# add own name to hosts
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augment_hosts_setting_file () {
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echo '127.0.0.1\tqemux86.localdomain\t\tqemux86' >> ${IMAGE_ROOTFS}/etc/hosts
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}
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# remove not needed ipkg informations
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# create a custom hosts file
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ROOTFS_POSTPROCESS_COMMAND += "remove_packaging_data_files ; augment_hosts_setting_file ; "
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# currently install all python-modules, but we only need a subset.
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# also adding python-misc to obtain the ast module. We should check if this ast file should better
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# be a python module in the openembedded core repository.
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IMAGE_INSTALL += "packagegroup-core-ssh-openssh cmake \
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python-modules python-misc python-empy python-setuptools \
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boost boost-dev python-dev libtinyxml libtinyxml-dev \
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log4cxx log4cxx-dev libbz2-dev \
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python-argparse python-rosdep python-wstool \
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"
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