Difference between revisions of "ROS2"
From ElphelWiki
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===Build=== | ===Build=== | ||
− | + | <font color='red'>'''Won't build'''</font> | |
+ | <font size='1'>Build Configuration: | ||
+ | BB_VERSION = "1.37.0" | ||
+ | BUILD_SYS = "x86_64-linux" | ||
+ | NATIVELSBSTRING = "universal" | ||
+ | TARGET_SYS = "arm-poky-linux-gnueabi" | ||
+ | MACHINE = "elphel393" | ||
+ | DISTRO = "poky" | ||
+ | DISTRO_VERSION = "2.4+snapshot-20181204" | ||
+ | TUNE_FEATURES = "arm armv7a vfp neon cortexa9" | ||
+ | TARGET_FPU = "softfp" | ||
+ | meta | ||
+ | meta-poky | ||
+ | meta-yocto-bsp = "HEAD:72867393fe2004ab9f0ee23eb09a975c82938b9e" | ||
+ | meta-ezynq = "rocko:046de13c06cc248b725cb7b9928f35d4a369b50f" | ||
+ | meta-elphel393 = "rocko:0cea9b9b8776f0fe725316f1be1501396c95feb4" | ||
+ | meta-ros = "HEAD:72068b17e4192b51e09c8dc633805a35edac8701" | ||
+ | meta-xilinx-bsp = "HEAD:a18947c20dba2c0c38db8bde1ad4684995df4bbd" | ||
+ | meta-oe | ||
+ | meta-python | ||
+ | meta-networking | ||
+ | meta-webserver = "HEAD:34aa4c3202b427f59f843dc43a4e1afda4f81d13"</font> | ||
+ | |||
+ | * Error 1: | ||
+ | ** ROS_USE_PYTHON3 = "yes" | ||
+ | ** IMAGE_INSTALL += "roslaunch" | ||
+ | |||
+ | <font size='1'>NOTE: Resolving any missing task queue dependencies | ||
+ | ERROR: Nothing RPROVIDES 'python3-pycrypto' (but /home/oleg/GIT/elphel393_rocko_clean_install/meta/meta-ros/recipes-devtools/python/python3-paramiko_1.16.0.bb RDEPENDS on or otherwise requires it) | ||
+ | NOTE: Runtime target 'python3-pycrypto' is unbuildable, removing... | ||
+ | Missing or unbuildable dependency chain was: ['python3-pycrypto'] | ||
+ | NOTE: Runtime target 'python3-paramiko' is unbuildable, removing... | ||
+ | Missing or unbuildable dependency chain was: ['python3-paramiko', 'python3-pycrypto'] | ||
+ | NOTE: Runtime target 'roslaunch' is unbuildable, removing... | ||
+ | Missing or unbuildable dependency chain was: ['roslaunch', 'python3-paramiko', 'python3-pycrypto'] | ||
+ | ERROR: Required build target 'core-image-elphel393' has no buildable providers. | ||
+ | Missing or unbuildable dependency chain was: ['core-image-elphel393', 'roslaunch', 'python3-paramiko', 'python3-pycrypto']</font> | ||
+ | |||
===Work=== | ===Work=== | ||
* Won't work | * Won't work |
Revision as of 14:35, 4 December 2018
Contents
GitHub
https://github.com/bmwcarit/meta-ros.git
ROS1
Build
Won't build
Build Configuration: BB_VERSION = "1.37.0" BUILD_SYS = "x86_64-linux" NATIVELSBSTRING = "universal" TARGET_SYS = "arm-poky-linux-gnueabi" MACHINE = "elphel393" DISTRO = "poky" DISTRO_VERSION = "2.4+snapshot-20181204" TUNE_FEATURES = "arm armv7a vfp neon cortexa9" TARGET_FPU = "softfp" meta meta-poky meta-yocto-bsp = "HEAD:72867393fe2004ab9f0ee23eb09a975c82938b9e" meta-ezynq = "rocko:046de13c06cc248b725cb7b9928f35d4a369b50f" meta-elphel393 = "rocko:0cea9b9b8776f0fe725316f1be1501396c95feb4" meta-ros = "HEAD:72068b17e4192b51e09c8dc633805a35edac8701" meta-xilinx-bsp = "HEAD:a18947c20dba2c0c38db8bde1ad4684995df4bbd" meta-oe meta-python meta-networking meta-webserver = "HEAD:34aa4c3202b427f59f843dc43a4e1afda4f81d13"
- Error 1:
- ROS_USE_PYTHON3 = "yes"
- IMAGE_INSTALL += "roslaunch"
NOTE: Resolving any missing task queue dependencies ERROR: Nothing RPROVIDES 'python3-pycrypto' (but /home/oleg/GIT/elphel393_rocko_clean_install/meta/meta-ros/recipes-devtools/python/python3-paramiko_1.16.0.bb RDEPENDS on or otherwise requires it) NOTE: Runtime target 'python3-pycrypto' is unbuildable, removing... Missing or unbuildable dependency chain was: ['python3-pycrypto'] NOTE: Runtime target 'python3-paramiko' is unbuildable, removing... Missing or unbuildable dependency chain was: ['python3-paramiko', 'python3-pycrypto'] NOTE: Runtime target 'roslaunch' is unbuildable, removing... Missing or unbuildable dependency chain was: ['roslaunch', 'python3-paramiko', 'python3-pycrypto'] ERROR: Required build target 'core-image-elphel393' has no buildable providers. Missing or unbuildable dependency chain was: ['core-image-elphel393', 'roslaunch', 'python3-paramiko', 'python3-pycrypto']
Work
- Won't work
ROS2
Build
- Add path to bblayers.conf
- Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb:
ros2-demo-nodes-cpp \ ros2topic \ ros2msg \ ros2run \
Notes:
- Is this a required minimum?
- ROS_USE_PYTHON3 = "yes" no effect? It already uses python3?
Work
1. Test Talker and Listener
- SSH session 1:
root@elphel393:~# export AMENT_PREFIX_PATH=/usr root@elphel393:~# ros2 run demo_nodes_cpp talker
- SSH session 2:
root@elphel393:~# export AMENT_PREFIX_PATH=/usr root@elphel393:~# ros2 run demo_nodes_cpp listener
Notes:
- If AMENT_PREFIX_PATH is not set then:
Traceback (most recent call last): File "/usr/bin/ros2", line 11, in <module> load_entry_point('ros2cli==0.4.0', 'console_scripts', 'ros2')() File "/usr/lib/python3.5/site-packages/ros2cli/cli.py", line 64, in main rc = extension.main(parser=parser, args=args) File "/usr/lib/python3.5/site-packages/ros2run/command/run.py", line 59, in main executable_name=args.executable_name) File "/usr/lib/python3.5/site-packages/ros2run/api/__init__.py", line 30, in get_executable_path paths = get_executable_paths(package_name=package_name) File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 41, in get_executable_paths prefix_path = get_prefix_path(package_name) File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 34, in get_prefix_path prefix_path = get_package_prefix(package_name) File "/usr/lib/python3.5/site-packages/ament_index_python/packages.py", line 49, in get_package_prefix content, package_prefix = get_resource('packages', package_name) File "/usr/lib/python3.5/site-packages/ament_index_python/resources.py", line 37, in get_resource for path in get_search_paths(): File "/usr/lib/python3.5/site-packages/ament_index_python/search_paths.py", line 30, in get_search_paths "Environment variable '{}' is not set or empty".format(AMENT_PREFIX_PATH_ENV_VAR)) OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty
2. Available packages
- SSH session:
root@elphel393:~# export AMENT_PREFIX_PATH=/usr root@elphel393:~# ros2 pkg list builtin_interfaces demo_nodes_cpp example_interfaces geometry_msgs rcl rcl_interfaces rclcpp rclpy rcutils rmw rmw_fastrtps_cpp rosidl_cmake rosidl_generator_c rosidl_generator_cpp rosidl_parser rosidl_typesupport_interface rosidl_typesupport_introspection_c rosidl_typesupport_introspection_cpp sensor_msgs