Enable SDK for ROS2 on Scarthgap #1241

sgstreet · 2024-10-24T16:15:27Z

This PR enables OpenEmbedded SDK building and cross-compilation for Rolling, Jazzy and Humble. This PR is based on the work done in #988, #1203 and #1215. See these for more discussion

These changes allow demos, examples and examples_interfaces packages to be built using the resulting SDK. To build the SDK use:

$ bitbake ros2-image-sdktest -c do_populate_sdk

Install the resulting SDK, setup a ROS2 workspace containing demos, examples and example_interfaces and build the workspace using the follow script:

export ROS_VERSION=2
export ROS_PYTHON_VERSION=3
export ROS_DISTRO=${ROS_DISTRO:-rolling}
export PYTHONPATH=$OECORE_NATIVE_SYSROOT/usr/lib/python3.12/site-packages:$OECORE_TARGET_SYSROOT/opt/ros/rolling/lib/python3.12/site-packages
export AMENT_PREFIX_PATH=$OECORE_TARGET_SYSROOT/opt/ros/rolling
usr/share:$OECORE_TARGET_SYSROOT/opt/ros/rolling/share:$OECORE_TARGET_SYSROOT/opt/ros/rolling/lib/cmake"
export PYTHON_SOABI=cpython-312-aarch64-linux-gnu.so

colcon build \
--merge-install \
--install-base $PWD/install/arm64 \
--cmake-args \
" --no-warn-unused-cli" \
" -DCMAKE_TOOLCHAIN_FILE=$CMAKE_TOOLCHAIN_FILE" \
" -DCMAKE_STAGING_PREFIX=$PWD/install/arm64" \
" -DPYTHON_SOABI=$(basename -s so $PYTHON_SOABI)" \
" -DPython3_NumPy_INCLUDE_DIR=$OECORE_TARGET_SYSROOT/usr/lib/python3.12/site-packages/numpy/core/include" \
" -DBUILD_TESTING=OFF"

Install the $PWD/install/arm64 on the target device. Setup the device workspace:

$ . /opt/ros/rolling/setup.bash
$ . ./arm64/local_setup.bash

Run any of the examples to demonstrate the valid cross-compilation.

Co-developed-by: Romain Gimenez [email protected]
Co-developed-by: Jiaxing Shi [email protected]

sgstreet · 2024-10-24T16:17:26Z

@jiaxshi @robwoolley can you review this? It has been tested on a Raspberry Pi5 and is functional.

robwoolley · 2024-10-24T16:24:30Z

Thanks, I was at ROSCon this week. I will take a look at it when I return home.

jiaxshi · 2024-11-06T01:37:15Z

meta-ros-common/recipes-extended/pcl/pcl/0002-Do-not-leak-build-directory-paths-1.12.1.patch

+     set(BOOST_ROOT "${PCL_ROOT}/3rdParty/Boost")
+   elseif(NOT BOOST_INCLUDEDIR)
+-    set(BOOST_INCLUDEDIR "@Boost_INCLUDE_DIR@")
+    set(BOOST_INCLUDEDIR "$ENV{OECORE_TARGET_SYSROOT}/usr/include")


Hi @sgstreet
OECORE_TARGET_SYSROOT is defined and used in SDK environment. It should be null in yocto build time.

Yes, I'm aware of this will be empty at yocto build time. My hope, untested at this point, is that non-sdk builds will set BOOST_INCLUDEDIR, EIGEN_ROOT and FLANN_ROOT correctly. Did you test this PR again one of your builds?

Can you suggest an different approach to prevent the leakage of the build directory into the SDK? I can remove this commit and update the sdk colcon build instructions if you want?

Turns out that the building images works even when OECORE_TARGET_SYSROOT is empty but present in the PCLConfig.cmake file. But in the interest of making the least change 9f47588 removes the reference to OECORE_TARGET_SYSROOT. @robwoolley Thanks for the insights!

I think we can use ${CMAKE_SYSROOT} here, it's a CMAKE variable and set in both yocto build env and SDK env.

9f47588 removes the references to OECORE_TARGET_SYSROOT and works both when building images/sdk and when using the sdk. Is this sufficient?

meta-ros-common/classes/ros_cmake.bbclass

sgstreet · 2024-11-06T17:43:20Z

I rebased onto the current scarthgap-next

jdiez17 · 2024-11-11T12:02:10Z

Hi all, great work on getting ROS2 to be part of the SDK!

It looks like it's almost working on my build, but I do get these two build errors:

rosidl-typesupport-interface.log.do_configure.txt
rcutils.log.do_configure.txt

For rosidl-typesupport-inteface, it looks like it cannot find ament_cmake:

| DEBUG: Executing shell function do_configure
| CMake Error at CMakeLists.txt:5 (find_package):
|   By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
|   has asked CMake to find a package configuration file provided by
|   "ament_cmake", but CMake did not find one.
|
|   Could not find a package configuration file provided by "ament_cmake" with
|   any of the following names:
|
|     ament_cmakeConfig.cmake
|     ament_cmake-config.cmake
|
|   Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
|   "ament_cmake_DIR" to a directory containing one of the above files.  If
|   "ament_cmake" provides a separate development package or SDK, be sure it
|   has been installed.
|
|
| -- Configuring incomplete, errors occurred!
| WARNING: exit code 1 from a shell command.
ERROR: Task (virtual:nativesdk:/build/../work/src/ros/meta-ros2-humble/generated-recipes/rosidl/rosidl-typesupport-interface_3.1.5-2.bb:do_configure) failed with exit code '1'

And for rcutils, it's ament-cmake-python:


I wonder if this may be because I'm using a custom ros_prefix (/usr/opt/ros/humble).
| CMake Error at CMakeLists.txt:16 (find_package):
|   By not providing "Findament_cmake_python.cmake" in CMAKE_MODULE_PATH this
|   project has asked CMake to find a package configuration file provided by
|   "ament_cmake_python", but CMake did not find one.
|
|   Could not find a package configuration file provided by
|   "ament_cmake_python" with any of the following names:
|
|     ament_cmake_pythonConfig.cmake
|     ament_cmake_python-config.cmake
|
|   Add the installation prefix of "ament_cmake_python" to CMAKE_PREFIX_PATH or
|   set "ament_cmake_python_DIR" to a directory containing one of the above
|   files.  If "ament_cmake_python" provides a separate development package or
|   SDK, be sure it has been installed.
|
|
| -- Configuring incomplete, errors occurred!
| WARNING: exit code 1 from a shell command.
ERROR: Task (virtual:nativesdk:/build/../work/src/ros/meta-ros2-humble/generated-recipes/rcutils/rcutils_5.1.6-1.bb:do_configure) failed with exit code '1'

I wonder if this is because I'm using a non-standard ros_prefix (/usr/opt/ros/humble)...

sgstreet · 2024-11-11T15:16:06Z

@jdiez17 Could you provide the values of PYTHONPATH, AMENT_PREFIX_PATH and the colcon build command you used? All three of these interact to find the ROS2 build system components.

jdiez17 · 2024-11-11T15:29:44Z

meta-ros2/classes/ros_ament_cmake.bbclass

@@ -25,11 +25,13 @@ export AMENT_PREFIX_PATH="${STAGING_DIR_HOST}${prefix};${STAGING_DIR_NATIVE}${pr

 inherit cmake python3native

+PYTHONPATH:prepend:class-nativesdk = "${STAGING_DIR_NATIVE}/opt/ros/${ROS_DISTRO}/lib/python${PYTHON_BASEVERSION}/site-packages:"


Suggested change

PYTHONPATH:prepend:class-nativesdk = "${STAGING_DIR_NATIVE}/opt/ros/${ROS_DISTRO}/lib/python${PYTHON_BASEVERSION}/site-packages:"

PYTHONPATH:prepend:class-nativesdk = "${STAGING_DIR_NATIVE}${ros_prefix}/lib/python${PYTHON_BASEVERSION}/site-packages:"

I suspect this hardcoded path caused my build error. Currently running a build with this change, seems to get further. Will report back if it builds and I can compile a workspace with the SDK.

jdiez17 · 2024-11-11T15:30:49Z

I didn't get to building a workspace with this yet. That error was from running bitbake <image> -c populate_sdk. I suspect the hardcoded PYTHONPATH in ros_ament_cmake.bbclass was causing the build error(s).

jdiez17 · 2024-11-11T15:36:38Z

meta-ros2/classes/ros_ament_cmake.bbclass

@@ -38,3 +40,8 @@ EXTRA_OECMAKE:prepend:class-native = "\
    -DCMAKE_PREFIX_PATH='${ros_prefix}' \
    -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
 "
+
+EXTRA_OECMAKE:prepend:class-nativesdk = "\
+    -DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}/opt/ros/${ROS_DISTRO};${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \


Isn't ${STAGING_DIR_NATIVE}/opt/ros/${ROS_DISTRO} and ${STAGING_DIR_NATIVE}${ros_prefix} the same? (except, of course, in situations where ros_prefix is customized - like in my build).

Suggested change

-DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}/opt/ros/${ROS_DISTRO};${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \

-DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \

Sure seem like a problem. I will try on my desktop

Does b99fe2b fix it?

jdiez17 · 2024-11-11T16:15:22Z

Unfortunately, using ${STAGING_DIR_NATIVE}${ros_prefix} for CMAKE_PREFIX_PATH and PYTHONPATH does not work. My build only succeeds when I put the hardcoded path, like ${STAGING_DIR_NATIVE}/usr/opt/ros/humble in both paths.

This may be because ${ros_prefix} includes ${base_prefix}. To be continued...

jdiez17 · 2024-11-11T17:32:29Z

Indeed ${ros_prefix} seems incorrect for nativesdk packages due to base_prefix.

$ bitbake-getvar -r nativesdk-rosidl-typesupport-interface ros_prefix
#
# $ros_prefix [2 operations]
#   set /build/../work/src/raccoon/meta-raccoon/conf/distro/raccoon.conf:26
#     "${base_prefix}/usr/opt/ros/${ROS_DISTRO}"
#   set? /build/../work/src/ros/meta-ros-common/classes/ros_opt_prefix.bbclass:7
#     "${base_prefix}/opt/ros/${ROS_DISTRO}"
# pre-expansion value:
#   "${base_prefix}/usr/opt/ros/${ROS_DISTRO}"
ros_prefix="/usr/local/oe-sdk-hardcoded-buildpath/sysroots/x86_64-pokysdk-linux/usr/opt/ros/humble"

For reference:

$ bitbake-getvar -r ros-image-core ros_prefix
#
# $ros_prefix [2 operations]
#   set /build/../work/src/raccoon/meta-raccoon/conf/distro/raccoon.conf:26
#     "${base_prefix}/usr/opt/ros/${ROS_DISTRO}"
#   set? /build/../work/src/ros/meta-ros-common/classes/ros_opt_prefix.bbclass:7
#     "${base_prefix}/opt/ros/${ROS_DISTRO}"
# pre-expansion value:
#   "${base_prefix}/usr/opt/ros/${ROS_DISTRO}"
ros_prefix="/usr/opt/ros/humble"

sgstreet · 2024-11-11T18:01:33Z

@jdiez17 Seems a like a bigger problem with the ros_prefix preventing alternative install locations. Maybe we should create a new issue to explore how to fix this?

jdiez17 · 2024-11-11T18:03:25Z

@sgstreet Agreed. As discussed, this should not block merging this PR. The only thing I can say is that the hardcoded paths (as they are in the PR currently) should stay there for now.

sgstreet · 2024-11-11T18:36:15Z

@jdiez17 Can you try something like this?

diff --git a/meta-ros-common/classes/ros_opt_prefix.bbclass b/meta-ros-common/classes/ros_opt_prefix.bbclass
index 58c05e58d..238949aca 100644
--- a/meta-ros-common/classes/ros_opt_prefix.bbclass
+++ b/meta-ros-common/classes/ros_opt_prefix.bbclass
@@ -4,7 +4,8 @@
 # Copyright (c) Qualcomm Innovation Center, Inc. All rights reserved
 #
 
-ros_prefix ?= "${base_prefix}/opt/ros/${ROS_DISTRO}"
+ros_install_prefix ?= "/opt/ros/${ROS_DISTRO}"
+ros_prefix = "${base_prefix}${ros_install_prefix}"
 
 ros_bindir = "${ros_prefix}/bin"
 ros_sbindir = "${ros_prefix}/sbin"
diff --git a/meta-ros2/classes/ros_ament_cmake.bbclass b/meta-ros2/classes/ros_ament_cmake.bbclass
index f964181c7..ccc7aa1c6 100644
--- a/meta-ros2/classes/ros_ament_cmake.bbclass
+++ b/meta-ros2/classes/ros_ament_cmake.bbclass
@@ -42,6 +42,6 @@ EXTRA_OECMAKE:prepend:class-native = "\
 "
 
 EXTRA_OECMAKE:prepend:class-nativesdk = "\
-    -DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}/opt/ros/${ROS_DISTRO};${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \
+    -DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}${ros_install_prefix};${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \
     -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
 "

And this set ros_install_prefix in your build environment.

I'm pretty sure the SDK ROS2 build tools are assuming some dependencies are present in their final location /opt/ros/${ROS_DISTRO} or in your case /usr/opt/ros/${ROS_DISTRO}

jdiez17 · 2024-11-11T21:55:13Z

@sgstreet I can confirm that it works with your proposed patch (committed in my fork here).

This builds the SDK successfully, but seems numpy is not included:

CMake Error at /opt/raccoon/0.4/sysroots/x86_64-pokysdk-linux/usr/share/cmake-3.28/Modules/FindPackageHandleStandardArgs.cmake:230 (message):
  Could NOT find Python3 (missing: Python3_NumPy_INCLUDE_DIRS NumPy) (found
  version "3.12.4")
Call Stack (most recent call first):
  /opt/raccoon/0.4/sysroots/x86_64-pokysdk-linux/usr/share/cmake-3.28/Modules/FindPackageHandleStandardArgs.cmake:600 (_FPHSA_FAILURE_MESSAGE)
  /opt/raccoon/0.4/sysroots/x86_64-pokysdk-linux/usr/share/cmake-3.28/Modules/FindPython/Support.cmake:3867 (find_package_handle_standard_args)
  /opt/raccoon/0.4/sysroots/x86_64-pokysdk-linux/usr/share/cmake-3.28/Modules/FindPython3.cmake:545 (include)
  /opt/raccoon/0.4/sysroots/cortexa53-crypto-poky-linux/usr/opt/ros/humble/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:24 (find_package)
  /opt/raccoon/0.4/sysroots/cortexa53-crypto-poky-linux/usr/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/raccoon/0.4/sysroots/cortexa53-crypto-poky-linux/usr/opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
  CMakeLists.txt:17 (rosidl_generate_interfaces)

Not sure why numpy is needed for message generation, but will continue investigating.

sgstreet · 2024-11-11T21:58:29Z

My bad, I will update the usage instructions, try adding:

-DPython3_NumPy_INCLUDE_DIR=$OECORE_TARGET_SYSROOT/usr/lib/python3.12/site-packages/numpy/core/include

To your colcon build command -cmake-args. I was unable to track down this problem, it seem like it is an issue with the numpy cmake module, but I could no track it down. You were trying to use the SDK to build a workspace correct?

sgstreet · 2024-11-11T22:38:42Z

@jdiez17 See 4f60fc1 for the fix to relocating the ROS install. I changed the name ros_base_prefix to kind of match the existing naming convention.

jdiez17 · 2024-11-11T23:01:10Z

@sgstreet Thanks, telling colcon/cmake about the location of the numpy include dir made the generated SDK be able to succesfully compile my interface (msg/action) packages. Winner, winner! 🎉

For reference, this is my cross compilation script.

Your commit 4f60fc1 LGTM.

robwoolley

{common} Add native sdk class extentions

This looks like the correct, simple solution for now. In the longer term, we may want to replace this with a variable in ros-distro.inc that automatically extends the recipes to include nativesdk if the recipe name is in the list.

robwoolley

{rolling} Patch fastrtps to use find TinyXML2

I'm fine with the changes, but it is unclear what problem this solves.

Can you provide more detail on why this was necessary to enable the SDK?

Newer versions of Bitbake also require the Upstream-Status field to be included in the header of the patch. Is this a change that would be applicable upstream or is it oe-specific? (https://docs.yoctoproject.org/contributor-guide/recipe-style-guide.html#patch-upstream-status)

Thanks!

robwoolley

{common}{ros2} Ensure EXTRA_OECMAKE overrides correctly handle multiple cmake -D options

The change looks good. Thanks for tracking this down!

I don't think I understand the comment about making sure it handles multiple cmake -D options, could you elaborate on what the problem was and how this fixes that?

I also need to double-check whether STAGING_DIR_HOST is used and not STAGING_DIR_TARGET.

Do we need to set CMAKE_MODULE_PATH for native and nativesdk? Without it I worry we may be linking against Python modules provided by the host instead of the -native Python modules.

robwoolley

meta-ros-common/recipes-core/images/ros2-image-sdktest.bb:

I think having this alongside ros-image-sdktest.bb makes sense. We may want to rename the other image recipe ros1-image-sdktest.bb to avoid confusion for ROS 2 users.

I see that it includes some heavy hitters like OpenCV, Python, NumPy, Boost, etc. It looks like a good regression test for making sure that the SDK is working. Can we also document the steps needed to exercise the SDK?

robwoolley

meta-ros-common/recipes-devtools/colcon/python3-colcon-core/0003-Force-shebang-to-usr-bin-env-python3.patch:

Nice find, looks good.

robwoolley

{humble} Use find package for yaml to prevent sdk build failures

I wonder if we should be using yaml_vendor instead?

Signed-off-by: Stephen Street <[email protected]>

…rge installs Signed-off-by: Stephen Street <[email protected]>

Signed-off-by: Stephen Street <[email protected]>

…configuration Signed-off-by: Stephen Street <[email protected]>

Signed-off-by: Stephen Street <[email protected]>

sgstreet · 2024-11-13T16:37:53Z

I rebased onto the tip of scarthgap-next.

jdiez17 · 2024-11-18T08:33:29Z

meta-ros2/recipes-devtools/ros-sdk-env/ros-sdk-env_1.0.bb

+    echo "export PYTHON_SOABI=${PYTHON_SOABI}.so" >> ${S}/ros-sdk-env.sh
+    echo "export CMAKE_PYTHON_SOABI=${PYTHON_SOABI}" >> ${S}/ros-sdk-env.sh
+    echo "export PYTHON3_NUMPY_INCLUDE_DIR="'$OECORE_TARGET_SYSROOT'"/usr/lib/python${PYTHON_BASEVERSION}/site-packages/numpy/core/include" >> ${S}/ros-sdk-env.sh
+    echo "export PYTHONWARNINGS=ignore"  >> ${S}/ros-sdk-env.sh


Perhaps we shouldn't silence Python warnings at the SDK level. Thoughts?

Agreed. This is a hack to quite the numerous setuptools tools warnings. Not being a ptyhton expert I could not figure out the magic incantation to silence just the setuptool warning.

jdiez17 · 2024-11-18T08:33:54Z

meta-ros2/recipes-devtools/ros-sdk-env/ros-sdk-env_1.0.bb

+    echo "export ROS_DISTRO=${ROS_DISTRO}" >> ${S}/ros-sdk-env.sh
+    echo "export PYTHONPATH="'$OECORE_NATIVE_SYSROOT'"/usr/lib/python${PYTHON_BASEVERSION}/site-packages:"'$OECORE_TARGET_SYSROOT'"${ros_base_prefix}/lib/python${PYTHON_BASEVERSION}/site-packages"  >> ${S}/ros-sdk-env.sh
+    echo "export AMENT_PREFIX_PATH="'$OECORE_TARGET_SYSROOT'"${ros_base_prefix}" >> ${S}/ros-sdk-env.sh
+    echo "export PYTHON_SOABI=${PYTHON_SOABI}.so" >> ${S}/ros-sdk-env.sh


PYTHON_SOABI should not have a .so prefix:

builder@7f008748f080:/build$ bitbake-getvar PYTHON_SOABI -r rmw-implementation WARNING: You have included the meta-virtualization layer, but 'virtualization' has not been enabled in your DISTRO_FEATURES. Some bbappend files may not take effect. See the meta-virtualization README for details on enabling virtualization support. # # $PYTHON_SOABI # set /build/../work/src/ros/meta-ros2/classes/ros_ament_cmake.bbclass:15 # "cpython-${@d.getVar('PYTHON_BASEVERSION').replace('.', '')}${PYTHON_ABI}-${PYTHON_SOABI_ARCH}${PYTHON_SOABI_ARCH_SUFFIX}" PYTHON_SOABI="cpython-312-aarch64-linux-gnu"

See CMAKE_PYTHON_SOABI at line 40. This value should be used in the --cmake-args.

~~I understand, but you're setting it to ${PYTHON_SOABI}.so. The .so needs to go.~~

I reread your message and now I see what you mean. Sorry about that! Just for my curiosity, what is the "plain" PYTHON_SOABI used for?

I picked this you from net somewhere as required. I do not understand of this environment variable effects python interpreter execution. @robwoolley has a difference approach which I also do not understand. I think we need clarity, idea?

meta-ros2/recipes-devtools/ros-sdk-env/ros-sdk-env_1.0.bb

jdiez17 · 2024-11-18T10:50:05Z

meta-ros-common/recipes-core/images/ros2-image-sdktest.bb

+inherit ros_distro_${ROS_DISTRO}
+inherit ${ROS_DISTRO_TYPE}_image
+
+IMAGE_FEATURES:append = " \


Suggested change

IMAGE_FEATURES:append = " \

Remove no-op lines.

meta-ros-common/recipes-core/images/ros2-image-sdktest.bb

jdiez17 · 2024-11-18T11:35:20Z

meta-ros2-humble/conf/ros-distro/include/humble/ros-sdk.inc

+    ament-cmake-test \
+    ament-cmake-vendor-package \
+    ament-cmake-version \
+    foonathan-memory-staticdev \


This list is incomplete. At the very minimum we need python-cmake-module, possibly others as well. At the moment I'm using the "kitchen sink" task list from previous versions of this PR.

I notice that python-cmake-module is present in the target sysroot, which is why this might work.

One challenge that we have is in defining which packages are "host" dependencies and which are "target" dependencies. I need to do an audit of this, because I'm pretty sure that I have made this mistake when adding ROS_BUILD_DEPENDS and ROS_EXEC_DEPENDS in the various bbappends files to satisfy the builds.

The tricky party is that if you intend to do target-side builds then ament-cmake-* should be in the target list. However, for an SDK it probably should be only present in the host. I think if you are building an SDK for an image that supports target-side builds, then it should probably exist in both and the PYTHONPATH should be ordered to grab the host module first. (AFAIK)

I tried to trim this down the the bare minimum. I think the correct approach is packagegroups for the SDK functionality. Which should be up next.

Signed-off-by: Stephen Street <[email protected]>

robwoolley · 2024-11-19T03:15:15Z

Here is the latest preview of the series: https://github.com/ros/meta-ros/commits/master-next-sdkfixes-latest/

robwoolley · 2024-11-20T03:37:52Z

Rebased and the commits into scarthgap-next.

Would it be possible to open a new SDK for the envvar commit? 5efc734

sgstreet · 2024-11-20T17:23:18Z

Would it be possible to open a new SDK for the envvar commit? 5efc734

Working on it just running some tests

sgstreet marked this pull request as draft October 25, 2024 19:40

sgstreet marked this pull request as ready for review October 25, 2024 20:57

jiaxshi reviewed Nov 6, 2024

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meta-ros-common/classes/ros_cmake.bbclass Outdated Show resolved Hide resolved

robwoolley force-pushed the scarthgap-next branch from ee3109e to 2c28501 Compare November 6, 2024 10:27

robwoolley added the scarthgap label Nov 6, 2024

sgstreet force-pushed the scarthgap-next branch from 682617c to b99fe2b Compare November 6, 2024 17:40

jdiez17 reviewed Nov 11, 2024

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robwoolley reviewed Nov 12, 2024

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sgstreet added 15 commits November 13, 2024 08:24

{ros2} Use yocto PYTHON_BASEVERSION variable to build PYTHONPATH

f520b99

Signed-off-by: Stephen Street <[email protected]>

{common} Make colcon python package builds use correct shebang for me…

f247193

…rge installs Signed-off-by: Stephen Street <[email protected]>

{jazzy} Add Find TinyXML2 patch

ba938c6

Signed-off-by: Stephen Street <[email protected]>

{humble} Add Find TinyXML2 patch

ffd16bc

Signed-off-by: Stephen Street <[email protected]>

{common} Move SDK variables to ros2 releases

09a8170

Signed-off-by: Stephen Street <[email protected]>

{rolling} Move SDK variables to ros2 releases

89b3be1

Signed-off-by: Stephen Street <[email protected]>

{jazzy} Move SDK variables to ros2 releases

ed14b53

Signed-off-by: Stephen Street <[email protected]>

{humble} Move SDK variables to ros2 releases

ce8b3c1

Signed-off-by: Stephen Street <[email protected]>

{humble} Use find package for yaml to prevent sdk build failures

30aa939

Signed-off-by: Stephen Street <[email protected]>

{infrastructure} Stop chatter about newline in package descriptions

d2cd3da

Signed-off-by: Stephen Street <[email protected]>

Do not leak build directoy path into the sdk

8eaaf43

Signed-off-by: Stephen Street <[email protected]>

{common,humble,jazzy,rolling} Cleanup SDK configuration for ros-core …

15d5b61

…configuration Signed-off-by: Stephen Street <[email protected]>

{common} Remove duplicate path

a55d4f8

Signed-off-by: Stephen Street <[email protected]>

{common} Adjust PCL patches to not use OECORE_TARGET_SYSROOT variable

51c47ec

Signed-off-by: Stephen Street <[email protected]>

{common,ros2} Allow alternative ROS install paths

f60c234

Signed-off-by: Stephen Street <[email protected]>

sgstreet force-pushed the scarthgap-next branch from 4f60fc1 to f60c234 Compare November 13, 2024 16:36

sgstreet force-pushed the scarthgap-next branch from ee5d4d3 to db36783 Compare November 18, 2024 00:44

jdiez17 reviewed Nov 18, 2024

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meta-ros2/recipes-devtools/ros-sdk-env/ros-sdk-env_1.0.bb Outdated Show resolved Hide resolved

jdiez17 reviewed Nov 18, 2024

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sgstreet added 2 commits November 18, 2024 08:27

{rolling,jazzy,humble,ros2} Add ROS environment variables to SDK

5efc734

Signed-off-by: Stephen Street <[email protected]>

Remove duplicate and empty values

9c32b48

Signed-off-by: Stephen Street <[email protected]>

sgstreet force-pushed the scarthgap-next branch from db36783 to 9c32b48 Compare November 18, 2024 16:32

robwoolley closed this Nov 20, 2024

		@@ -25,11 +25,13 @@ export AMENT_PREFIX_PATH="${STAGING_DIR_HOST}${prefix};${STAGING_DIR_NATIVE}${pr

		inherit cmake python3native

		PYTHONPATH:prepend:class-nativesdk = "${STAGING_DIR_NATIVE}/opt/ros/${ROS_DISTRO}/lib/python${PYTHON_BASEVERSION}/site-packages:"

	-DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}/opt/ros/${ROS_DISTRO};${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \
	-DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \

Enable SDK for ROS2 on Scarthgap #1241

Enable SDK for ROS2 on Scarthgap #1241

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