This is a layer to provide ROS Indigo Igloo in an OpenEmbedded Linux system. It provides a stable cross-compilation build system for many common ROS packages. Currently, this layer is still under continuous development. ## IMPORTANT RESOURCES ## * Source Code Repository: https://github.com/bmwcarit/meta-ros.git * Issue Tracker: https://github.com/bmwcarit/meta-ros/issues * Discussion Forum: http://discourse.ros.org/c/openembedded * Installation Guide: http://wiki.ros.org/hydro/Installation/OpenEmbedded * Development Guides: * https://github.com/bmwcarit/meta-ros/wiki/Guidelines-for-ROS-recipes * https://github.com/bmwcarit/meta-ros/wiki/Developer-Guidelines Note: In October 2016, the mailing list at https://groups.google.com/forum/#!forum/meta-ros has been discontinued and discussion has moved to http://discourse.ros.org/c/openembedded. However, the mailing list is still a good resource on issues that have been resolved in the past. ## MAINTAINERS ## * Lukas Bulwahn, BMW Car IT GmbH * Stefan Herbrechtsmeier, Bielefeld University * Kristof Robot ## CONTRIBUTORS ## * Lukas Bulwahn, BMW Car IT GmbH * Stefan Herbrechtsmeier, Bielefeld University * Tobias Weigl, BMW Car IT GmbH * Kartik Mohta * Koen Kooi * Victor Mayoral Vilches * Sergey 'Jin' Bostandzhyan * Andreas Hildisch, BMW Car IT GmbH * William * Kristof Robot * Khem Raj * Esteve Fernandez * Jonas Sticha * Pascal Bach * Andreas Galauner * Peter S. Housel * Gauthier Monserand * Timo Mueller * Andreas Baak ## 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 to join forces. ## DEPENDENCIES ## This layer depends on: **openembedded-core** URI: git://git.openembedded.org/openembedded-core subdirectory: meta branch: master revision: HEAD **meta-openembedded (meta-oe)** URI: git://git.openembedded.org/meta-openembedded subdirectory: meta-oe branch: master revision: HEAD **meta-python** (since a6d7ba92645a112af358efd94ff3aa0c74985a51@meta-openembedded) URI: git://git.openembedded.org/meta-openembedded subdirectory: meta-python branch: master revision: HEAD **meta-multimedia** (since fe44ac167a2a76531af3519f3889fce92024567b@meta-openembedded) URI: git://git.openembedded.org/meta-openembedded subdirectory: meta-multimedia branch: master revision: HEAD **bitbake** > 1.20 ## DEPENDENCIES ON RECENT COMMITS ## Here, we list which parts of this layer depend on recent commits in the bitbake, openembedded-core and meta-openembedded repositories. Using `git blame` on the lines below, you can find the commits in meta-ros that rely on the remote commits. In case of porting to other versions, you must possibly revert some of those commits. cv-bridge and dependent recipes, e.g., the image-transport recipes, depend on 7568bfdd114597956a1da68746f207ec7f93a48d@openembedded-core. For native python-numpy support, these recipes also depend on c13c5f40160d289bb62538a16900fed30621cb22@meta-openembedded or on 9bf355cceaec6ebacdcbcc35f9713ff73e1c85da@openembedded-core. Some recipes that need the Eigen library, e.g., the pcl-ros recipe, depend on 424e3c1b930c0103c2cedfd4df1671e84a5256d5@meta-openembedded. Using wildcards in bbappend versions part in name depends on 31bc9af9cd56e7b318924869970e850993fafc5f@bitbake and 991cbeedbde8bd25ce08c669b1bfac8b99e33149@bitbake. octomap-ros and collada-urdf depend on 43073569cb67d98c11aa71211d77b566b64f9145@openembedded-core and 783fb88f476c94d5d4f4b954f7053464d9a6dff5@openembedded-core. urdfdom-py depends on the meta-python layer since a6d7ba92645a112af358efd94ff3aa0c74985a51@meta-openembedded. Since 3edf08b38b0af93cef0933b061349264dc86d54c@openembedded-core, recipes relying on opencv need to activate the DISTRO\_FEATURE opengl. rosbridge-library depends on python-six, which is provided in meta-python since a36869c700bed940f7f0aa4b9703ae630dc84eac@meta-openembedded. ## INSTALLATION ## The repository contains a layer for ROS that builds on top of the OpenEmbedded Core layer and the meta-oe layer. We try our best to keep up with the development of the current HEAD of the layers mentioned above. If you notice any problems with the current HEAD, please report this in our issue tracker. You can use this layer with earlier versions of the layers mentioned above and their release branches, dora and daisy, with a few minor adjustments. The section "dependencies on recent commits" in this file provides a few pointers to adjust this layer for other versions. ## USAGE ## Initialize the build environment: source oe-init-build-env Add the required layers (see **DEPENDENCIES**) by modifying ``./conf/bblayers.conf`` (adjust ``/home/me/devel`` as necessary): BBLAYERS ?= " \ /home/me/devel/openembedded-core/meta \ /home/me/devel/meta-openembedded/meta-oe \ /home/me/devel/meta-openembedded/meta-python \ /home/me/devel/meta-openembedded/meta-multimedia \ /home/me/devel/meta-ros \ " Compile package: bitbake The recipe core-image-ros-roscore provides a minimal Linux system that runs roscore. You can compile the minimal Linux system with bitbake core-image-ros-roscore Then for example, you start this system in the qemu virtual machine with runqemu core-image-ros-roscore On the Linux system, ensure that the own host's name in resolved by adding 127.0.0.1 .localdomain to the /etc/hosts file, and set up the environment with export ROS_ROOT=/opt/ros export ROS_DISTRO=indigo export ROS_PACKAGE_PATH=/opt/ros/indigo/share export PATH=$PATH:/opt/ros/indigo/bin export LD_LIBRARY_PATH=/opt/ros/indigo/lib export PYTHONPATH=/opt/ros/indigo/lib/python2.7/site-packages export ROS_MASTER_URI=http://localhost:11311 export CMAKE_PREFIX_PATH=/opt/ros/indigo touch /opt/ros/indigo/.catkin Finally, you can start roscore with roscore If you want to use the roswtf utility for diagnostics and experience an exception like rospkg.os_detect.OsNotDetected: Could not detect OS, tried ['windows', 'ubuntu', 'slackware', 'rhel', 'qnx', 'osx', 'opensuse', 'opensuse', 'mint', 'linaro', 'gentoo', 'funtoo', 'freebsd', 'fedora', 'elementary', 'debian', 'cygwin', 'centos', 'arch'] then you need to set `ROS_OS_OVERRIDE` to one of the listed OS names, e.g. export ROS_OS_OVERRIDE=ubuntu And since Yocto-based distributions are not supported by the `rospkg` library you have to interpret roswtf's output by translating Ubuntu package names manually to their corresponding package/recipe names that were chosen in the meta-ros layer. ## CROSS-COMPILING ALL ROS PACKAGES IN meta-ros The meta-ros layers only includes a subset of the officially released ROS packages, available from packages.ros.org. The here provided ROS packages are mainly driven by the current users' needs. For ROS packages that depend on cv-bridge, the commercial license flag must be whitelisted, as cv-bridge depends on opencv, and opencv by default depends on libav that has special terms and conditions when used commercially. This can be done by adding to the local.conf the line: LICENSE_FLAGS_WHITELIST = "commercial" Alternatively, the dependency from opencv on libav can be explicit excluded by modifying the PACKAGECONFIG setting. ## 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. The descriptions in the recipes of ROS packages have been extracted from the ROS wiki (http://www.ros.org/wiki/) and are licensed under Creative Commons Attribution 3.0 (http://creativecommons.org/licenses/by/3.0/) unless otherwise noted. 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 yaml-cpp recipe originated from the recipe in Kartik Mohta's OpenEmbedded layer (cf. https://github.com/kartikmohta/meta-km/blob/master/recipes-devtools/yaml-cpp/yaml-cpp_0.3.0.bb) licensed with the MIT License. The poco recipe is a copy of the poco recipe in the meta-oe layer licensed with the MIT License (cf. http://cgit.openembedded.org/meta-openembedded/tree/meta-oe/recipes-support/poco). The recipe is included in the meta-ros layer to support the use of older versions of the meta-oe layer. The core-image-ros-* recipes 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. The original or modified files are redistributed here under the same MIT License.