Difference between revisions of "ROS2"

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(ROS1)
Line 117: Line 117:
  
 
==<font color='blue'>ROS1</font>==
 
==<font color='blue'>ROS1</font>==
===Build===
+
<font color='red'>'''Won't build'''</font>. [[ROS1|More info]].
<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>
 
 
 
* Successful build:
 
** 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>
 
 
 
 
 
* Error 2:
 
** <font color='red'>Seems like '''rostopic''' causes:</font>
 
<font size='1'>ERROR: python-imaging-1.1.7-r5 do_package_qa: QA Issue: python-imaging: The compile log indicates that host include and/or library paths were used.
 
          Please check the log '/home/oleg/GIT/elphel393_rocko_clean_install/poky/build/tmp/work/cortexa9-neon-poky-linux-gnueabi/python-imaging/1.1.7-r5/temp/log.do_compile' for more information. [compile- host-path]
 
ERROR: python-imaging-1.1.7-r5 do_package_qa: QA run found fatal errors. Please consider fixing them.
 
ERROR: python-imaging-1.1.7-r5 do_package_qa: Function failed: do_package_qa
 
ERROR: Logfile of failure stored in: /home/oleg/GIT/elphel393_rocko_clean_install/poky/build/tmp/work/cortexa9-neon-poky-linux-gnueabi/python-imaging/1.1.7-r5/temp/log.do_package_qa.19425
 
ERROR: Task (/home/oleg/GIT/elphel393_rocko_clean_install/meta/meta-openembedded/meta-python/recipes-devtools/python/python-imaging_1.1.7.bb:do_package_qa) failed with exit code '1'</font>
 
 
potential links:
 
  https://github.com/intel-aero/meta-intel-aero/issues/81
 
  https://github.com/bmwcarit/meta-ros/issues/395
 
 
 
removed python3-imaging from '''rosbag''' - everything builds but then not really working.
 
 
 
with '''ROS_USE_PYTHON3 = "yes"''' stopped at finding an appropriate '''python-pycrypto''' lib
 
 
 
===Work===
 
* <font color='red'>'''Won't work'''</font>
 
 
 
** There's no '''rosrun''' (does not exist?)
 
 
 
** SSH session 1:
 
*** Add to /etc/hosts:
 
127.0.0.1 elphel393.localdomain elphel393
 
*** Export vars:
 
export ROS_ROOT=/opt/ros
 
export ROS_DISTRO=indigo
 
export ROS_PACKAGE_PATH=/opt/ros/indigo/share
 
export PATH=$PATH:/opt/ros/indigo/bin
 
export LD_LIBRARY_PATH=/opt/ros/indigo/lib
 
export PYTHONPATH=/opt/ros/indigo/lib/python2.7/site-packages
 
export ROS_MASTER_URI=http://localhost:11311
 
export CMAKE_PREFIX_PATH=/opt/ros/indigo
 
touch /opt/ros/indigo/.catkin
 
*** Roscore
 
roscore
 
 
 
 
 
** SSH session 2:
 
root@elphel393:~# rosnode list
 
  <font size='1'>/rosout</font>
 
root@elphel393:~# rospack list
 
  <font size='1'>cpp_common /opt/ros/indigo/share/cpp_common
 
  genmsg /opt/ros/indigo/share/genmsg
 
  genpy /opt/ros/indigo/share/genpy
 
  rosbag /opt/ros/indigo/share/rosbag
 
  rosbag_storage /opt/ros/indigo/share/rosbag_storage
 
  rosclean /opt/ros/indigo/share/rosclean
 
  rosconsole /opt/ros/indigo/share/rosconsole
 
  roscpp /opt/ros/indigo/share/roscpp
 
  roscpp_serialization /opt/ros/indigo/share/roscpp_serialization
 
  roscpp_tutorials /opt/ros/indigo/share/roscpp_tutorials
 
  rosgraph /opt/ros/indigo/share/rosgraph
 
  rosgraph_msgs /opt/ros/indigo/share/rosgraph_msgs
 
  roslaunch /opt/ros/indigo/share/roslaunch
 
  roslib /opt/ros/indigo/share/roslib
 
  roslz4 /opt/ros/indigo/share/roslz4
 
  rosmaster /opt/ros/indigo/share/rosmaster
 
  rosnode /opt/ros/indigo/share/rosnode
 
  rosout /opt/ros/indigo/share/rosout
 
  rospack /opt/ros/indigo/share/rospack
 
  rosparam /opt/ros/indigo/share/rosparam
 
  rospy /opt/ros/indigo/share/rospy
 
  rospy_tutorials /opt/ros/indigo/share/rospy_tutorials
 
  rostime /opt/ros/indigo/share/rostime
 
  rostopic /opt/ros/indigo/share/rostopic
 
  std_msgs /opt/ros/indigo/share/std_msgs
 
  topic_tools /opt/ros/indigo/share/topic_tools
 
  xmlrpcpp /opt/ros/indigo/share/xmlrpcpp</font>
 

Revision as of 15:53, 7 December 2018

About

Use ROS2 in Elphel single or multi-camera systems. The cameras are 10393 system boards based on Xilinx Zynq, ARM.

Goals

Notes:

  • Controlling and initializing of multi-camera systems is already implemented using PHP API (autocampars.php), Python and lighttpd.
  • Using ROS2 is intended to simplify/standardize the above.
  • Using ROS2 is intended to make cameras compatible with other hardware supported by ROS1/2.

Having ROS2 cross-compiled and installed on each camera:

  • Initialize cameras in a pre-defined multi-camera system - sync and sequence critical init
  • Control multiple cameras from any camera of the system - parameters, recording
  • Control multiple cameras from a PC (with ROS2 for PC installed).
  • Control multiple cameras from a network device (w/o ROS2 installed, but with a browser) - by accessing a web server running on a camera interfaced with ROS2 of the camera. Can use nodejs or just lighttpd+php.

Status

Development

Interfaces

ROS2 nodes communicate over:

  • 1 GigE LAN or (possibly) wifi (camera1-camera2..N, pc-camera1..N, pc1-pc2..M)
  • within a single device

Notes:

  • image sensors, IMS (or GPS & IMU), any other sensors are attached to cameras via a custom interface or USB, with appropriate driver support.
  • normally cameras in the system are synced with a custom trigger cable - this is setup over network
  • any device attached to PC?

ROS2 on Zynq

Installation

TODO: Include meta-ros.git in elphel393 build system.

Include meta-ros to elphel393

  • Add path to bblayers.conf
  • Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb:
packagegroup-ros2-world \

Workflow

Notes:

  • ROS2 for python populates /usr/lib/python3.5/site-packages/ so python scripts can live anywhere.
  • For command line apps, like ros2 ..., if AMENT_PREFIX_PATH is not set then:
OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty
  • Useful examples (command line):
export AMENT_PREFIX_PATH=/usr
ros2 pkg list
ros2 node list
ros2 srv list
ros2 srv show std_srvs/Trigger
ros2 msg list
ros2 msg show std_msgs/String

Demos

talker-listener cpp

# terminal 1:
export AMENT_PREFIX_PATH=/usr
ros2 run demo_nodes_cpp talker

# terminal 2:
export AMENT_PREFIX_PATH=/usr
ros2 run demo_nodes_cpp listener

ROS2 on PC

Installation

Notes:

  • apt install ros-bouncy-desktop available in 18.04, n/a in 16.04
  • apt install ros-ardent-desktop available in 16.04

Workflow

  • ROS2 will get installed to /opt/ros/<name>, <name> = ardent, bouncy.
  • Terminal setup:
source /opt/ros/bouncy/setup.bash
or
source /opt/ros/bouncy/local_setup.bash
  • Create a workspace
  • Create some packages inside or clone - they have a vcs tool to clone all repos from a text file.
  • Install colcon
  • Then build with colcon
  • Packages will not get installed to /opt/ros/bouncy/... Instead they will stay in their folders.
  • To use a package:
source /opt/ros/bouncy/setup.bash
source ~/ros2_ws/some-package/install/local_setup.bash
ros2 pkg list
then run anything in this terminal

ROS2 General Notes

Notes

  • SROS is Secure ROS or something

Useful links

... 
if you are concerned about latency, like for soft real-time, you can basically tune DDS to be just a UDP blaster. In another scenario you might need something that behaves like TCP, but needs to be more 
tolerant to long dropouts, and with DDS all of these things can be controlled by changing the QoS parameters.
...

Docker

docker pull osrf/ros2:bouncy-desktop
docker run -i -t osrf/ros2:bouncy-desktop 
...no network, no colcon, no ament...


ROS1

Won't build. More info.