This is a layer to provide ROS Hydromedusa in an OpenEmbedded Linux system. Currently, this layer is still under development and only provides cross-compilation of the basic ros-comm packages.

MAINTAINERS

• Lukas Bulwahn, BMW Car IT GmbH lukas.bulwahn@oss.bmw-carit.de
• Stefan Herbrechtsmeier, Bielefeld University stefan@herbrechtsmeier.net

CONTRIBUTORS

• Lukas Bulwahn, BMW Car IT GmbH lukas.bulwahn@oss.bmw-carit.de
• Stefan Herbrechtsmeier, Bielefeld University stefan@herbrechtsmeier.net
• Tobias Weigl, BMW Car IT GmbH tobias.weigl@bmw-carit.de
• Kartik Mohta kartikmohta@gmail.com
• Koen Kooi koen@dominion.thruhere.net
• Victor Mayoral Vilches v.mayoralv@gmail.com
• Sergey 'Jin' Bostandzhyan jin@dev.digitalstrom.org
• Andreas Hildisch, BMW Car IT GmbH andreas.hildisch@bmw-carit.de
• William william@friedcircuits.us
• Kristof Robot krirobo@gmail.com
• Khem Raj raj.khem@gmail.com

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:

URI: git://git.openembedded.org/openembedded-core
branch: master
revision: HEAD

URI: git://git.openembedded.org/meta-openembedded
layers: meta-oe
branch: master
revision: HEAD

bitbake > 1.20

DEPENDENCIES ON RECENT COMMITS

cv-bridge and dependent recipes, e.g., the image-transport recipes, depend on 7568bfdd114597956a1da68746f207ec7f93a48d@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.

INSTALLATION

The repository contains a layer for ROS that builds on top of the OpenEmbedded Core layer and the meta-oe layer.

We believe it should work with the current HEAD of the layers mentioned above. As a further reference, here are the version I currently work with:

• commit d3d5ccd3275196fb9e4cb8f49d3c087b97c20ed6 of https://github.com/openembedded/oe-core
• commit 2a463dddcf76d7fa437e96f6cf0210143e97a904 of https://github.com/openembedded/meta-oe
• commit bf9be2029b2bded5f532bdda4c38ae3dff5d1cf6 of git://git.openembedded.org/bitbake in the bitbake directory

USAGE

Currently, you can cross-compile the ROS packages with the commands:

source oe-init-build-env
bitbake <package-name>

Look at the meta-ros test reports for the description of the current state.

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 <MACHINE> core-image-ros-roscore

On the Linux system, ensure that the own host's name in resolved by adding

127.0.0.1	<HOSTNAME>.localdomain		<HOSTNAME>

to the /etc/hosts file, and set up the environment with

export ROS_ROOT=/usr
export ROS_MASTER_URI=http://localhost:11311
export CMAKE_PREFIX_PATH=/usr
touch /usr/.catkin

Finally, you can start roscore with

roscore

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 libpoco recipe originated from the recipe in digitalSTROM's OpenEmbedded layer (cf. https://gitorious.digitalstrom.org/dss-oe/dss-oe/blobs/master/dS/meta-dss11-production/recipes-support/poco/poco_1.3.6p2.bb) licensed with the MIT License.

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.