Enable SDK for ROS2 on Scarthgap

meta-ros-common/classes/ros_cmake.bbclass

@@ -3,7 +3,7 @@
 
 inherit cmake
 
-EXTRA_OECMAKE:prepend = "\
+EXTRA_OECMAKE:prepend:class-target = "\
     -DCMAKE_PREFIX_PATH='${STAGING_DIR_HOST}${ros_prefix};${STAGING_DIR_HOST}${prefix}' \
     -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
     -DCMAKE_MODULE_PATH='${STAGING_DIR_HOST}${ros_datadir}/cmake/Modules/' \
@@ -13,3 +13,8 @@ EXTRA_OECMAKE:prepend:class-native = "\
     -DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \
     -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
 "
+
+EXTRA_OECMAKE:prepend:class-nativesdk = "\
+    -DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \
+    -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
+"

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_base_prefix ?= "/opt/ros/${ROS_DISTRO}"
+ros_prefix = "${base_prefix}${ros_base_prefix}"
 
 ros_bindir = "${ros_prefix}/bin"
 ros_sbindir = "${ros_prefix}/sbin"

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

@@ -0,0 +1,33 @@
+SUMMARY = "ROS2 SDK Image"
+DESCRIPTION = "${SUMMARY}"
+
+inherit core-image
+inherit ros_distro_${ROS_DISTRO}
+inherit ${ROS_DISTRO_TYPE}_image
+
+IMAGE_INSTALL:append = " \
+    packagegroup-core-boot \
+    ${CORE_IMAGE_EXTRA_INSTALL} \
+"
+
+TOOLCHAIN_TARGET_TASK:append = " \
+    opencv-staticdev \
+    python3-numpy-staticdev \
+    libeigen \
+    eigen3-cmake-module \
+    boost \
+    libstdc++-staticdev \
+    pcl-dev \
+    python3-pykdl \
+    bullet \
+    qhull-staticdev \
+    orocos-kdl \
+    yaml-cpp-vendor \
+    pybind11-vendor \
+    rttest \
+    tlsf-staticdev \
+    tlsf-cpp \
+    python-cmake-module \
+    python3-opencv \
+    tinyxml-vendor \
+"

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

@@ -0,0 +1,13 @@
+diff --git a/colcon_core/task/python/build.py b/colcon_core/task/python/build.py
+index 7181d20..eb82058 100644
+--- a/colcon_core/task/python/build.py
++++ b/colcon_core/task/python/build.py
+@@ -73,7 +73,7 @@ class PythonBuildTask(TaskExtensionPoint):
+                     os.path.realpath(args.build_base),
+                     os.path.realpath(args.path)),
+                 'build', '--build-base', os.path.join(
+-                    args.build_base, 'build'),
++                    args.build_base, 'build'), '--executable', '/usr/bin/env python3',
+                 'install', '--prefix', args.install_base,
+                 '--record', os.path.join(args.build_base, 'install.log'),
+                 # prevent installation of dependencies specified in setup.py

meta-ros-common/recipes-devtools/colcon/python3-colcon-core_0.6.1.bb

@@ -6,6 +6,7 @@ LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd5
 
 SRC_URI += "file://0001-Remove-optional-pytest-dependencies.patch \
            file://0002-Fix-regression-when-enitre-workspace-is-symlinked.patch \
+           file://0003-Force-shebang-to-usr-bin-env-python3.patch \
            "
 SRC_URI[sha256sum] = "fc14534b2ce745fcc332afc0bb0ddf3e45d5d69c15da15b9471cfb7b0b9edbe9"
 

meta-ros-common/recipes-devtools/python/python3-coloredlogs_%.bbappend

@@ -0,0 +1 @@
+BBCLASSEXTEND += "nativesdk"

meta-ros-common/recipes-devtools/python/python3-dateutil_%.bbappend

@@ -0,0 +1 @@
+BBCLASSEXTEND += "nativesdk"

meta-ros-common/recipes-devtools/python/python3-docutils_%.bbappend

@@ -0,0 +1 @@
+BBCLASSEXTEND += "nativesdk"

meta-ros-common/recipes-devtools/python/python3-humanfriendly_%.bbappend

@@ -0,0 +1 @@
+BBCLASSEXTEND += "nativesdk"

meta-ros-common/recipes-devtools/python/python3-lark-parser_0.7.0.bb

@@ -5,3 +5,5 @@
 require python-lark-parser.inc
 
 inherit setuptools3
+
+BBCLASSEXTEND = "native nativesdk"

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

@@ -0,0 +1,55 @@
+From 4dc28976e88af60e273e670f824cf9b30281e86d Mon Sep 17 00:00:00 2001
+From: Stephen Street <[email protected]>
+Date: Tue, 5 Nov 2024 09:04:23 -0800
+Subject: [PATCH] Do not leak build directory paths in sdk
+
+Signed-off-by: Stephen Street <[email protected]>
+---
+ PCLConfig.cmake.in | 9 +++++----
+ 1 file changed, 5 insertions(+), 4 deletions(-)
+
+diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
+index 1e923a3e9..4a8a3a35e 100644
+--- a/PCLConfig.cmake.in
++++ b/PCLConfig.cmake.in
+@@ -23,6 +23,7 @@ if(POLICY CMP0074)
+   # NEW behavior, we need to push a policy stack.
+   cmake_policy(SET CMP0074 NEW)
+ endif()
++cmake_policy(SET CMP0144 NEW)
+
+ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Modules")
+
+@@ -91,9 +92,9 @@ macro(find_boost)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(BOOST_ROOT "${PCL_ROOT}/3rdParty/Boost")
+   elseif(NOT BOOST_INCLUDEDIR)
+-    set(BOOST_INCLUDEDIR "@Boost_INCLUDE_DIR@")
++    set(BOOST_INCLUDEDIR "/usr/include")
+   endif()
+-  
++
+   set(Boost_ADDITIONAL_VERSIONS
+     "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@.@Boost_SUBMINOR_VERSION@" "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@"
+     "1.84.0" "1.84" "1.83.0" "1.83" "1.82.0" "1.82" "1.81.0" "1.81" "1.80.0" "1.80"
+@@ -117,7 +118,7 @@ macro(find_eigen)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(EIGEN_ROOT "${PCL_ROOT}/3rdParty/Eigen")
+   elseif(NOT EIGEN_ROOT)
+-    get_filename_component(EIGEN_ROOT "@EIGEN_INCLUDE_DIRS@" ABSOLUTE)
++    get_filename_component(EIGEN_ROOT "/usr/include/eigen3" ABSOLUTE)
+   endif()
+   find_package(Eigen 3.1)
+ endmacro()
+@@ -225,7 +226,7 @@ macro(find_flann)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(FLANN_ROOT "${PCL_ROOT}/3rdParty/Flann")
+   elseif(NOT FLANN_ROOT)
+-    set(FLANN_ROOT "@FLANN_ROOT@")
++    set(FLANN_ROOT "/usr")
+   endif()
+
+   set(PCL_FLANN_REQUIRED_TYPE @PCL_FLANN_REQUIRED_TYPE@)
+-- 
+2.43.0
+

meta-ros-common/recipes-extended/pcl/pcl/0002-Do-not-leak-build-directory-paths-1.13.0.patch

@@ -0,0 +1,55 @@
+From 15cfff0eb7fb7ca58550f6259f0935ca7710a6b4 Mon Sep 17 00:00:00 2001
+From: Stephen Street <[email protected]>
+Date: Tue, 5 Nov 2024 08:47:17 -0800
+Subject: [PATCH] Do not leak build directory paths in sdk
+
+Signed-off-by: Stephen Street <[email protected]>
+---
+ PCLConfig.cmake.in | 9 +++++----
+ 1 file changed, 5 insertions(+), 4 deletions(-)
+
+diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
+index b6322c623..b7e290c23 100644
+--- a/PCLConfig.cmake.in
++++ b/PCLConfig.cmake.in
+@@ -23,6 +23,7 @@ if(POLICY CMP0074)
+   # NEW behavior, we need to push a policy stack.
+   cmake_policy(SET CMP0074 NEW)
+ endif()
++cmake_policy(SET CMP0144 NEW)
+
+ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Modules")
+
+@@ -91,9 +92,9 @@ macro(find_boost)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(BOOST_ROOT "${PCL_ROOT}/3rdParty/Boost")
+   elseif(NOT BOOST_INCLUDEDIR)
+-    set(BOOST_INCLUDEDIR "@Boost_INCLUDE_DIR@")
++    set(BOOST_INCLUDEDIR "/usr/include")
+   endif()
+-  
++
+   set(Boost_ADDITIONAL_VERSIONS
+     "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@.@Boost_SUBMINOR_VERSION@" "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@"
+     "1.84.0" "1.84" "1.83.0" "1.83" "1.82.0" "1.82" "1.81.0" "1.81" "1.80.0" "1.80"
+@@ -117,7 +118,7 @@ macro(find_eigen)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(EIGEN_ROOT "${PCL_ROOT}/3rdParty/Eigen")
+   elseif(NOT EIGEN_ROOT)
+-    get_filename_component(EIGEN_ROOT "@EIGEN_INCLUDE_DIRS@" ABSOLUTE)
++    get_filename_component(EIGEN_ROOT "/usr/include/eigen3" ABSOLUTE)
+   endif()
+   find_package(Eigen 3.3)
+ endmacro()
+@@ -225,7 +226,7 @@ macro(find_flann)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(FLANN_ROOT "${PCL_ROOT}/3rdParty/Flann")
+   elseif(NOT FLANN_ROOT)
+-    set(FLANN_ROOT "@FLANN_ROOT@")
++    set(FLANN_ROOT "/usr")
+   endif()
+
+   set(PCL_FLANN_REQUIRED_TYPE @PCL_FLANN_REQUIRED_TYPE@)
+-- 
+2.43.0
+

meta-ros-common/recipes-extended/pcl/pcl_1.12.1.bb

@@ -4,6 +4,7 @@
 require pcl.inc
 
 SRC_URI += "file://0001-Make-PCL-compatible-with-Boost-1.84-1.12.1.patch"
+SRC_URI += "file://0002-Do-not-leak-build-directory-paths-1.12.1.patch"
 
 PV = "1.12.1+git${SRCPV}"
 SRCREV = "e8ed4be802f7d0b1acff2f8b01d7c5f381190e05"

meta-ros-common/recipes-extended/pcl/pcl_1.13.0.bb

@@ -4,6 +4,7 @@
 require pcl.inc
 
 SRC_URI += "file://0001-Make-PCL-compatible-with-Boost-1.84-1.13.0.patch"
+SRC_URI += "file://0002-Do-not-leak-build-directory-paths-1.13.0.patch"
 
 PV = "1.13.0+git${SRCPV}"
 SRCREV = "371a8e1373f7b2f66bbb92291be2f3e50dc19856"

meta-ros-common/recipes-infrastructure/python/python3-catkin-pkg/0002-package-py-remove-newline-in-description-warning.patch

@@ -0,0 +1,14 @@
+diff --git a/src/catkin_pkg/package.py b/src/catkin_pkg/package.py
+index da2b1b8..e2c8f2d 100644
+--- a/src/catkin_pkg/package.py
++++ b/src/catkin_pkg/package.py
+@@ -253,9 +253,6 @@ class Package(object):
+
+         if not self.description:
+             errors.append('Package description must not be empty')
+-        else:
+-            if '\n' in self.description:
+-                new_warnings.append('Package "%s" has newlines in the description')
+
+         if not self.maintainers:
+             errors.append("Package '{0}' must declare at least one maintainer".format(self.name))

meta-ros-common/recipes-infrastructure/python/python3-catkin-pkg_0.4.24.bb

@@ -1,5 +1,6 @@
 require python-catkin-pkg.inc
 
 SRC_URI += "file://0001-python_setup.py-fix-build-with-setuptools-v59.0.0-an.patch"
+SRC_URI += "file://0002-package-py-remove-newline-in-description-warning.patch"
 
 inherit setuptools3

meta-ros-common/recipes-support/asio/asio_%.bbappend

@@ -1,3 +1,3 @@
 # Copyright (c) 2019-2020 LG Electronics, Inc.
 
-BBCLASSEXTEND = "native"
+BBCLASSEXTEND = "native nativesdk"

meta-ros-common/recipes-support/libtinyxml2/libtinyxml2_%.bbappend

@@ -0,0 +1 @@
+BBCLASSEXTEND += "nativesdk"

meta-ros2-humble/conf/layer.conf

@@ -24,3 +24,4 @@ LAYERDEPENDS_ros2-humble-layer = " \
 LAYERSERIES_COMPAT_ros2-humble-layer = "scarthgap"
 
 require conf/ros-distro/include/humble/ros-distro.inc
+require conf/ros-distro/include/humble/ros-sdk.inc

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

@@ -0,0 +1,62 @@
+TOOLCHAIN_HOST_TASK:append = " \
+    nativesdk-ament-package \
+    nativesdk-python3-colcon-common-extensions \
+    nativesdk-python3-numpy \
+    nativesdk-rosidl-adapter \
+    nativesdk-rosidl-cli \
+    nativesdk-rosidl-cmake \
+    nativesdk-rosidl-default-generators \
+    nativesdk-rosidl-generator-c \
+    nativesdk-rosidl-generator-cpp \
+    nativesdk-rosidl-parser \
+    nativesdk-rosidl-typesupport-c \
+    nativesdk-rosidl-typesupport-cpp \
+    nativesdk-rosidl-typesupport-fastrtps-c \
+    nativesdk-rosidl-typesupport-fastrtps-cpp \
+    nativesdk-rosidl-typesupport-introspection-c \
+    nativesdk-rosidl-typesupport-introspection-cpp \
+    nativesdk-ros-sdk-env \
+"
+
+TOOLCHAIN_TARGET_TASK:append = " \
+    ament-cmake-python \
+    ament-cmake-ros \
+    ament-package \
+    ament-lint \
+    ament-cmake \
+    ament-cmake-auto \
+    ament-cmake-core \
+    ament-cmake-export-definitions \
+    ament-cmake-export-dependencies \
+    ament-cmake-export-include-directories \
+    ament-cmake-export-interfaces \
+    ament-cmake-export-libraries \
+    ament-cmake-export-link-flags \
+    ament-cmake-export-targets \
+    ament-cmake-gen-version-h \
+    ament-cmake-gmock \
+    ament-cmake-gtest \
+    ament-cmake-include-directories \
+    ament-cmake-libraries \
+    ament-cmake-pytest \
+    ament-cmake-python \
+    ament-cmake-target-dependencies \
+    ament-cmake-test \
+    ament-cmake-vendor-package \
+    ament-cmake-version \
+    foonathan-memory-staticdev \
+    \
+    rclcpp \
+    rclcpp-lifecycle \
+    rclcpp-action \
+    rclcpp-components \
+    builtin-interfaces \
+    common-interfaces \
+    fastrtps-cmake-module \
+    rosidl-default-generators \
+    rosidl-generator-c \
+    rosidl-generator-cpp \
+    rosidl-cmake \
+    ros-workspace \
+    pluginlib \
+"

meta-ros2-humble/recipes-bbappends/fastrtps/fastrtps/0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch

@@ -0,0 +1,16 @@
+diff --git a/cmake/modules/FindTinyXML2.cmake b/cmake/modules/FindTinyXML2.cmake
+index 44b8e645..ba964578 100644
+--- a/cmake/modules/FindTinyXML2.cmake
++++ b/cmake/modules/FindTinyXML2.cmake
+@@ -39,7 +39,10 @@ else()
+     if(TINYXML2_FROM_SOURCE)
+         find_path(TINYXML2_SOURCE_DIR NAMES tinyxml2.cpp NO_CMAKE_FIND_ROOT_PATH)
+     else()
+-        find_library(TINYXML2_LIBRARY tinyxml2)
++        find_library(TINYXML2_LIBRARIES tinyxml2)
++        add_library(tinyxml2 SHARED IMPORTED)
++        set_property(TARGET tinyxml2 APPEND PROPERTY IMPORTED_LOCATION "${TINYXML2_LIBRARIES}")
++        set(TINYXML2_LIBRARY tinyxml2)
+     endif()
+
+     include(FindPackageHandleStandardArgs)

meta-ros2-humble/recipes-bbappends/fastrtps/fastrtps_%.bbappend

@@ -1,8 +1,11 @@
 # Copyright (c) 2019-2021 LG Electronics, Inc.
+# Copyright (c) 2023 Wind River Systems, Inc.
 
 inherit ros_insane_dev_so
 
 FILES:${PN} += "${prefix}/tools"
+# ERROR: fastrtps-2.10.2-1-r0 do_package: QA Issue: fastrtps: Files/directories were installed but not shipped in any package:
+FILES:${PN} += "${datadir}/fastRTPS_profiles.xsd ${datadir}/fastdds_static_discovery.xsd"
 
 # CMake Error: TRY_RUN() invoked in cross-compiling mode, please set the
 # following cache variables appropriately:
@@ -19,3 +22,6 @@ EXTRA_OECMAKE += " -DSM_RUN_RESULT=0 -DSM_RUN_RESULT__TRYRUN_OUTPUT=PTHREAD_RWLO
 sysroot_stage_all:append() {
     sysroot_stage_dir ${D}${bindir} ${SYSROOT_DESTDIR}${bindir}
 }
+
+FILESEXTRAPATHS:prepend := "${THISDIR}/${PN}:"
+SRC_URI += "file://0001-FindTinyXML2.cmake-fix-find_library-libtinyxml2.patch"

meta-ros2-humble/recipes-bbappends/rcl/rcl-yaml-param-parser/0001-CMakeLists.txt-use-find-package-yaml.patch

@@ -0,0 +1,12 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 96ef1b3e..b7487bf6 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -6,6 +6,7 @@ find_package(ament_cmake_ros REQUIRED)
+ find_package(rcutils REQUIRED)
+ find_package(rmw REQUIRED)
+ find_package(libyaml_vendor REQUIRED)
++find_package(yaml)
+
+ # Default to C++14
+ if(NOT CMAKE_CXX_STANDARD)