ROS 2 Layer for OpenEmbedded Linux
This project may contain bugs and have not being tested at all. Use under your own risk, but feel free to test, make pull request and improve this project.
Actually a main bug is causing that the Python3 writen programs not to work. If youy get the next error: ImportError: No module named 'rclpy._rclpy' refer to https://discourse.ros.org/t/import-error-no-module-named-rclpy--rclpy-cross-compiling/2463
meta
meta-poky
meta-yocto-bsp = "morty:78890ea22750804e3e9113e76f7ca3d7234c8342"
meta-xilinx * = "morty:a24cf71a30de3b5cf665cd91979ea013bf1bb1f4"
meta-oe
meta-networking
meta-filesystems
meta-python
meta-systemd = "morty:fe5c83312de11e80b85680ef237f8acb04b4b26e"
meta-zynqberry = "morty:5e062627d75b41647d5ee728ee38057a8290d1e1"
meta-zynqberry-pxfmini = "master:202fcd1c1fe6f7cefa00b719cc9e0fd0b62c466e"
* https://github.com/erlerobot/meta-xilinx
cd ~
git clone https://github.com/ament/ament_package
cd ~/ament_package
sudo python3 setup.py install
cd ~
git clone https://github.com/ament/ament_tools
cd ~/ament_tools
sudo python3 setup.py install
cd ~
git clone https://github.com/ament/ament_python
cd ~/ament_python
git checkout release-beta2
sudo python3 setup.py installFirst a docker container is needed. Use https://github.com/erlerobot/Dockerfiles/tree/master/OpenEmbedded/docker_ros2 or check getting Docker container
git clone https://github.com/erlerobot/Dockerfiles/
cd Dockerfiles/OpenEmbedded/docker_ros2/
docker build .
docker run -it -v ${PWD}/shared:/home/build/shared ea2400e95d98 #change the id with the generated by docker build
After that you will be inside the docker container
build@a1eaaf9dd67f:~$ git clone https://github.com/erlerobot/meta-ros2
build@a1eaaf9dd67f:~$ cd poky/
build@a1eaaf9dd67f:~$ source oe-init-build-env
You can use the base Docker image from docker.erlerobotics.com
docker pull docker.erlerobotics.com/meta-ros2:latest
docker run -it -v ${PWD}/shared:/home/build/shared docker.erlerobotics.com/meta-ros2:latest
# inside docker
build@a1eaaf9dd67f:~$ cd poky/
build@a1eaaf9dd67f:~$ source oe-init-build-env
The build can be perform using the next command inside the ~/poky/build folder:
bitbake core-image-ros2
recipetool command can be used to generate layer files, these layers needs to be generated inside the ~/poky/build folder. After should be moved to the meta package.
For example:
recipetool -d create -o Fast-RTPS_1.4.0.bb https://github.com/eProsima/Fast-RTPS/archive/v1.4.0.tar.gz
- Use the server, is faster.
- Before exiting your container make a commit. If not, you will need to recompile all your job.
docker commit hopeful_kare zynqberry-ros2-base1
Probably you will need to install the next repo inside docker, launching the setup.py file
https://github.com/ament/ament_python