128 lines
5.1 KiB
Plaintext
128 lines
5.1 KiB
Plaintext
This is a layer to provide ROS in an OpenEmbedded Linux system.
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Currently, this layer is still under development and not fully functional.
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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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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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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 we could join forces.
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PURPOSE of this document:
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This document describes
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- the state of the current work
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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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STATE OF THIS WORK:
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This repository provides
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- Native compilation of ROS-fuerte
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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:
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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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USE for cross-compilation of ROS-groovy (in development):
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Currently, we can cross-compile 4 packages:
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ros-cpp-common, rostime, roscpp-traits, roscpp-serialization (packages in roscpp_core)
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with the commands:
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source oe-init-build-env
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bitbake <package-name>
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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 core-image-ros recipe 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 distutils class originated from the distutils class in OpenEmbedded Core
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(cf. http://cgit.openembedded.org/openembedded-core/tree/meta/classes/distutils.bbclass)
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licensed with the MIT License.
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The libtinyxml recipe originated from the recipe in the OpenEmbedded meta layer
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(cf. http://cgit.openembedded.org/meta-openembedded/tree/meta-oe/recipes-support/libtinyxml)
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licensed with the MIT License.
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The modified files are redistributed here under the same MIT License.
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