264 lines
10 KiB
Markdown
264 lines
10 KiB
Markdown
This is a layer to provide ROS Indigo Igloo in an OpenEmbedded Linux system.
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It provides a stable cross-compilation build system for many common ROS packages.
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Currently, this layer is still under continuous development.
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## IMPORTANT RESOURCES ##
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* Source Code Repository: https://github.com/bmwcarit/meta-ros.git
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* Issue Tracker: https://github.com/bmwcarit/meta-ros/issues
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* Discussion Forum: http://discourse.ros.org/c/openembedded
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* Installation Guide: http://wiki.ros.org/hydro/Installation/OpenEmbedded
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* Development Guides:
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* https://github.com/bmwcarit/meta-ros/wiki/Guidelines-for-ROS-recipes
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* https://github.com/bmwcarit/meta-ros/wiki/Developer-Guidelines
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Note: In October 2016, the mailing list at
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https://groups.google.com/forum/#!forum/meta-ros has been discontinued and
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discussion has moved to http://discourse.ros.org/c/openembedded.
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However, the mailing list is still a good resource on issues that have been
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resolved in the past.
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## MAINTAINERS ##
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* Lukas Bulwahn, BMW Car IT GmbH <lukas.bulwahn@oss.bmw-carit.de>
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* Stefan Herbrechtsmeier, Bielefeld University <stefan@herbrechtsmeier.net>
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* Kristof Robot <krirobo@gmail.com>
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## CONTRIBUTORS ##
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* Lukas Bulwahn, BMW Car IT GmbH <lukas.bulwahn@oss.bmw-carit.de>
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* Stefan Herbrechtsmeier, Bielefeld University <stefan@herbrechtsmeier.net>
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* Tobias Weigl, BMW Car IT GmbH <tobias.weigl@bmw-carit.de>
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* Kartik Mohta <kartikmohta@gmail.com>
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* Koen Kooi <koen@dominion.thruhere.net>
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* Victor Mayoral Vilches <v.mayoralv@gmail.com>
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* Sergey 'Jin' Bostandzhyan <jin@dev.digitalstrom.org>
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* Andreas Hildisch, BMW Car IT GmbH <andreas.hildisch@bmw-carit.de>
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* William <william@friedcircuits.us>
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* Kristof Robot <krirobo@gmail.com>
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* Khem Raj <raj.khem@gmail.com>
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* Esteve Fernandez <esteve@apache.org>
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* Jonas Sticha <jonas.sticha@bmw-carit.de>
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* Pascal Bach <pascal.bach@siemens.com>
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* Andreas Galauner <andreas@galauner.de>
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* Peter S. Housel <housel@acm.org>
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* Gauthier Monserand <simkim@simkim.net>
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* Timo Mueller <timo.mueller@bmw-carit.de>
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* Andreas Baak <andreas.baak@bmw-carit.de>
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## HOW TO CONTRIBUTE ##
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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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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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and how to join forces.
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## DEPENDENCIES ##
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This layer depends on:
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**openembedded-core**
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URI: git://git.openembedded.org/openembedded-core
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subdirectory: meta
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branch: master
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revision: HEAD
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**meta-openembedded (meta-oe)**
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URI: git://git.openembedded.org/meta-openembedded
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subdirectory: meta-oe
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branch: master
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revision: HEAD
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**meta-python** (since a6d7ba92645a112af358efd94ff3aa0c74985a51@meta-openembedded)
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URI: git://git.openembedded.org/meta-openembedded
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subdirectory: meta-python
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branch: master
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revision: HEAD
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**meta-multimedia** (since fe44ac167a2a76531af3519f3889fce92024567b@meta-openembedded)
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URI: git://git.openembedded.org/meta-openembedded
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subdirectory: meta-multimedia
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branch: master
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revision: HEAD
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**meta-intel-realsense** (since 4a5ba0f20094dd3d07c0a0c1dede2ba40e9d6abf)
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URI: https://github.com/IntelRealSense/meta-intel-realsense
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branch: master
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revision: HEAD
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This layer is required only if you need to build realsense-camera driver.
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**bitbake** > 1.20
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## DEPENDENCIES ON RECENT COMMITS ##
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Here, we list which parts of this layer depend on recent commits in the
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bitbake, openembedded-core and meta-openembedded repositories. Using
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`git blame` on the lines below, you can find the commits in meta-ros that
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rely on the remote commits. In case of porting to other versions, you must
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possibly revert some of those commits.
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cv-bridge and dependent recipes, e.g., the image-transport recipes, depend on
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7568bfdd114597956a1da68746f207ec7f93a48d@openembedded-core.
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For native python-numpy support, these recipes also depend on
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c13c5f40160d289bb62538a16900fed30621cb22@meta-openembedded or on
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9bf355cceaec6ebacdcbcc35f9713ff73e1c85da@openembedded-core.
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Some recipes that need the Eigen library, e.g., the pcl-ros recipe, depend on
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424e3c1b930c0103c2cedfd4df1671e84a5256d5@meta-openembedded.
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Using wildcards in bbappend versions part in name depends on
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31bc9af9cd56e7b318924869970e850993fafc5f@bitbake and
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991cbeedbde8bd25ce08c669b1bfac8b99e33149@bitbake.
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octomap-ros and collada-urdf depend on
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43073569cb67d98c11aa71211d77b566b64f9145@openembedded-core and
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783fb88f476c94d5d4f4b954f7053464d9a6dff5@openembedded-core.
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urdfdom-py depends on the meta-python layer since
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a6d7ba92645a112af358efd94ff3aa0c74985a51@meta-openembedded.
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Since 3edf08b38b0af93cef0933b061349264dc86d54c@openembedded-core,
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recipes relying on opencv need to activate the DISTRO\_FEATURE
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opengl.
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rosbridge-library depends on python-six, which is provided in meta-python
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since a36869c700bed940f7f0aa4b9703ae630dc84eac@meta-openembedded.
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## INSTALLATION ##
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The repository contains a layer for ROS that builds on top of the
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OpenEmbedded Core layer and the meta-oe layer.
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We try our best to keep up with the development of the current HEAD
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of the layers mentioned above. If you notice any problems with the
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current HEAD, please report this in our issue tracker.
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You can use this layer with earlier versions of the layers mentioned above
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and their release branches, dora and daisy, with a few minor adjustments.
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The section "dependencies on recent commits" in this file provides a few
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pointers to adjust this layer for other versions.
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## USAGE ##
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Initialize the build environment:
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source oe-init-build-env
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Add the required layers (see **DEPENDENCIES**) by modifying ``./conf/bblayers.conf`` (adjust ``/home/me/devel`` as necessary):
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BBLAYERS ?= " \
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/home/me/devel/openembedded-core/meta \
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/home/me/devel/meta-openembedded/meta-oe \
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/home/me/devel/meta-openembedded/meta-python \
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/home/me/devel/meta-openembedded/meta-multimedia \
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/home/me/devel/meta-ros \
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"
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Compile package:
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bitbake <package-name>
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The recipe core-image-ros-roscore provides a minimal Linux system that runs
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roscore.
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You can compile the minimal Linux system with
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bitbake core-image-ros-roscore
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Then for example, you start this system in the qemu virtual machine with
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runqemu <MACHINE> core-image-ros-roscore
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On the Linux system, ensure that the own host's name in resolved by adding
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127.0.0.1 <HOSTNAME>.localdomain <HOSTNAME>
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to the /etc/hosts file, and set up the environment with
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export ROS_ROOT=/opt/ros
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export ROS_DISTRO=indigo
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export ROS_PACKAGE_PATH=/opt/ros/indigo/share
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export PATH=$PATH:/opt/ros/indigo/bin
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export LD_LIBRARY_PATH=/opt/ros/indigo/lib
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export PYTHONPATH=/opt/ros/indigo/lib/python2.7/site-packages
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export ROS_MASTER_URI=http://localhost:11311
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export CMAKE_PREFIX_PATH=/opt/ros/indigo
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touch /opt/ros/indigo/.catkin
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Finally, you can start roscore with
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roscore
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If you want to use the roswtf utility for diagnostics and experience an
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exception like
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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']
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then you need to set `ROS_OS_OVERRIDE` to one of the listed OS names, e.g.
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export ROS_OS_OVERRIDE=ubuntu
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And since Yocto-based distributions are not supported by the `rospkg`
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library you have to interpret roswtf's output by translating Ubuntu
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package names manually to their corresponding package/recipe names that
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were chosen in the meta-ros layer.
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## CROSS-COMPILING ALL ROS PACKAGES IN meta-ros
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The meta-ros layers only includes a subset of the officially released ROS
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packages, available from packages.ros.org. The here provided ROS packages
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are mainly driven by the current users' needs.
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For ROS packages that depend on cv-bridge, the commercial license flag
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must be whitelisted, as cv-bridge depends on opencv, and opencv by
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default depends on libav that has special terms and conditions when used
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commercially.
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This can be done by adding to the local.conf the line:
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LICENSE_FLAGS_WHITELIST = "commercial"
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Alternatively, the dependency from opencv on libav can be explicit excluded
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by modifying the PACKAGECONFIG setting.
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## LICENSE ##
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All metadata is MIT licensed unless otherwise stated. Source code included
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in tree for individual recipes is under the LICENSE stated in each recipe
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(.bb file) unless otherwise stated.
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The descriptions in the recipes of ROS packages have been extracted from
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the ROS wiki (http://www.ros.org/wiki/) and are licensed under
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Creative Commons Attribution 3.0 (http://creativecommons.org/licenses/by/3.0/)
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unless otherwise noted.
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This README document is Copyright (C) 2012 BMW Car IT GmbH.
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## REDISTRIBUTIONS ##
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The log4cxx recipe originated from the recipe in the OpenEmbedded (Classic) Development
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(cf. http://cgit.openembedded.org/openembedded/tree/recipes/log4cxx)
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licensed with the MIT License.
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The yaml-cpp recipe originated from the recipe in Kartik Mohta's OpenEmbedded layer
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(cf. https://github.com/kartikmohta/meta-km/blob/master/recipes-devtools/yaml-cpp/yaml-cpp_0.3.0.bb)
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licensed with the MIT License.
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The poco recipe is a copy of the poco recipe in the meta-oe layer licensed with the MIT License
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(cf. http://cgit.openembedded.org/meta-openembedded/tree/meta-oe/recipes-support/poco).
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The recipe is included in the meta-ros layer to support the use of older versions of the meta-oe layer.
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The core-image-ros-* recipes originated from the core-image-minimal recipe in OpenEmbedded Core
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(cf. http://cgit.openembedded.org/openembedded-core/tree/meta/recipes-core/images/core-image-minimal.bb)
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licensed with the MIT License.
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The original or modified files are redistributed here under the same MIT License.
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