This is a layer to provide ROS Indigo Igloo in an OpenEmbedded Linux system. It provides a stable cross-compilation build system for many common ROS packages. Currently, this layer is still under continuous development.
IMPORTANT RESOURCES
- Source Code Repository: https://github.com/bmwcarit/meta-ros.git
- Issue Tracker: https://github.com/bmwcarit/meta-ros/issues
- Discussion Forum: http://discourse.ros.org/c/openembedded
- Installation Guide: http://wiki.ros.org/hydro/Installation/OpenEmbedded
- Development Guides:
Note: In October 2016, the mailing list at https://groups.google.com/forum/#!forum/meta-ros has been discontinued and discussion has moved to http://discourse.ros.org/c/openembedded. However, the mailing list is still a good resource on issues that have been resolved in the past.
MAINTAINERS
- Lukas Bulwahn, BMW Car IT GmbH lukas.bulwahn@oss.bmw-carit.de
- Stefan Herbrechtsmeier, Bielefeld University stefan@herbrechtsmeier.net
- Kristof Robot krirobo@gmail.com
CONTRIBUTORS
- Lukas Bulwahn, BMW Car IT GmbH lukas.bulwahn@oss.bmw-carit.de
- Stefan Herbrechtsmeier, Bielefeld University stefan@herbrechtsmeier.net
- Tobias Weigl, BMW Car IT GmbH tobias.weigl@bmw-carit.de
- Kartik Mohta kartikmohta@gmail.com
- Koen Kooi koen@dominion.thruhere.net
- Victor Mayoral Vilches v.mayoralv@gmail.com
- Sergey 'Jin' Bostandzhyan jin@dev.digitalstrom.org
- Andreas Hildisch, BMW Car IT GmbH andreas.hildisch@bmw-carit.de
- William william@friedcircuits.us
- Kristof Robot krirobo@gmail.com
- Khem Raj raj.khem@gmail.com
- Esteve Fernandez esteve@apache.org
- Jonas Sticha jonas.sticha@bmw-carit.de
- Pascal Bach pascal.bach@siemens.com
- Andreas Galauner andreas@galauner.de
- Peter S. Housel housel@acm.org
- Gauthier Monserand simkim@simkim.net
- Timo Mueller timo.mueller@bmw-carit.de
- Andreas Baak andreas.baak@bmw-carit.de
HOW TO CONTRIBUTE
We are still working on this development and are interested in other use cases. If you are interested in this project, please contact us via email. The more people are interested, the more we will be pushing this project. If you want to contribute, please contact us and we can discuss open issues and how to join forces.
DEPENDENCIES
This layer depends on:
openembedded-core
URI: git://git.openembedded.org/openembedded-core
subdirectory: meta
branch: master
revision: HEAD
meta-openembedded (meta-oe)
URI: git://git.openembedded.org/meta-openembedded
subdirectory: meta-oe
branch: master
revision: HEAD
meta-python (since a6d7ba92645a112af358efd94ff3aa0c74985a51@meta-openembedded)
URI: git://git.openembedded.org/meta-openembedded
subdirectory: meta-python
branch: master
revision: HEAD
meta-multimedia (since fe44ac167a2a76531af3519f3889fce92024567b@meta-openembedded)
URI: git://git.openembedded.org/meta-openembedded
subdirectory: meta-multimedia
branch: master
revision: HEAD
meta-intel-realsense (since 4a5ba0f20094dd3d07c0a0c1dede2ba40e9d6abf) URI: https://github.com/IntelRealSense/meta-intel-realsense branch: master revision: HEAD This layer is required only if you need to build realsense-camera driver.
bitbake > 1.20
DEPENDENCIES ON RECENT COMMITS
Here, we list which parts of this layer depend on recent commits in the
bitbake, openembedded-core and meta-openembedded repositories. Using
git blame on the lines below, you can find the commits in meta-ros that
rely on the remote commits. In case of porting to other versions, you must
possibly revert some of those commits.
cv-bridge and dependent recipes, e.g., the image-transport recipes, depend on 7568bfdd114597956a1da68746f207ec7f93a48d@openembedded-core. For native python-numpy support, these recipes also depend on c13c5f40160d289bb62538a16900fed30621cb22@meta-openembedded or on 9bf355cceaec6ebacdcbcc35f9713ff73e1c85da@openembedded-core.
Some recipes that need the Eigen library, e.g., the pcl-ros recipe, depend on 424e3c1b930c0103c2cedfd4df1671e84a5256d5@meta-openembedded.
Using wildcards in bbappend versions part in name depends on 31bc9af9cd56e7b318924869970e850993fafc5f@bitbake and 991cbeedbde8bd25ce08c669b1bfac8b99e33149@bitbake.
octomap-ros and collada-urdf depend on 43073569cb67d98c11aa71211d77b566b64f9145@openembedded-core and 783fb88f476c94d5d4f4b954f7053464d9a6dff5@openembedded-core.
urdfdom-py depends on the meta-python layer since a6d7ba92645a112af358efd94ff3aa0c74985a51@meta-openembedded.
Since 3edf08b38b0af93cef0933b061349264dc86d54c@openembedded-core, recipes relying on opencv need to activate the DISTRO_FEATURE opengl.
rosbridge-library depends on python-six, which is provided in meta-python since a36869c700bed940f7f0aa4b9703ae630dc84eac@meta-openembedded.
INSTALLATION
The repository contains a layer for ROS that builds on top of the OpenEmbedded Core layer and the meta-oe layer.
We try our best to keep up with the development of the current HEAD of the layers mentioned above. If you notice any problems with the current HEAD, please report this in our issue tracker.
You can use this layer with earlier versions of the layers mentioned above and their release branches, dora and daisy, with a few minor adjustments. The section "dependencies on recent commits" in this file provides a few pointers to adjust this layer for other versions.
USAGE
Initialize the build environment:
source oe-init-build-envAdd the required layers (see DEPENDENCIES) by modifying ./conf/bblayers.conf (adjust /home/me/devel as necessary):
BBLAYERS ?= " \
/home/me/devel/openembedded-core/meta \
/home/me/devel/meta-openembedded/meta-oe \
/home/me/devel/meta-openembedded/meta-python \
/home/me/devel/meta-openembedded/meta-multimedia \
/home/me/devel/meta-ros \
"Compile package:
bitbake <package-name>The recipe core-image-ros-roscore provides a minimal Linux system that runs roscore.
You can compile the minimal Linux system with
bitbake core-image-ros-roscoreThen for example, you start this system in the qemu virtual machine with
runqemu <MACHINE> core-image-ros-roscoreOn the Linux system, ensure that the own host's name in resolved by adding
127.0.0.1 <HOSTNAME>.localdomain <HOSTNAME>to the /etc/hosts file, and set up the environment with
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/.catkinFinally, you can start roscore with
roscoreIf you want to use the roswtf utility for diagnostics and experience an exception like
rospkg.os_detect.OsNotDetected: Could not detect OS, tried ['windows', 'ubuntu', 'slackware', 'rhel', 'qnx', 'osx', 'opensuse', 'opensuse', 'mint', 'linaro', 'gentoo', 'funtoo', 'freebsd', 'fedora', 'elementary', 'debian', 'cygwin', 'centos', 'arch']then you need to set ROS_OS_OVERRIDE to one of the listed OS names, e.g.
export ROS_OS_OVERRIDE=ubuntuAnd since Yocto-based distributions are not supported by the rospkg
library you have to interpret roswtf's output by translating Ubuntu
package names manually to their corresponding package/recipe names that
were chosen in the meta-ros layer.
CROSS-COMPILING ALL ROS PACKAGES IN meta-ros
The meta-ros layers only includes a subset of the officially released ROS packages, available from packages.ros.org. The here provided ROS packages are mainly driven by the current users' needs.
For ROS packages that depend on cv-bridge, the commercial license flag must be whitelisted, as cv-bridge depends on opencv, and opencv by default depends on libav that has special terms and conditions when used commercially. This can be done by adding to the local.conf the line:
LICENSE_FLAGS_WHITELIST = "commercial"Alternatively, the dependency from opencv on libav can be explicit excluded by modifying the PACKAGECONFIG setting.
LICENSE
All metadata is MIT licensed unless otherwise stated. Source code included in tree for individual recipes is under the LICENSE stated in each recipe (.bb file) unless otherwise stated. The descriptions in the recipes of ROS packages have been extracted from the ROS wiki (http://www.ros.org/wiki/) and are licensed under Creative Commons Attribution 3.0 (http://creativecommons.org/licenses/by/3.0/) unless otherwise noted.
This README document is Copyright (C) 2012 BMW Car IT GmbH.
REDISTRIBUTIONS
The log4cxx recipe originated from the recipe in the OpenEmbedded (Classic) Development (cf. http://cgit.openembedded.org/openembedded/tree/recipes/log4cxx) licensed with the MIT License.
The yaml-cpp recipe originated from the recipe in Kartik Mohta's OpenEmbedded layer (cf. https://github.com/kartikmohta/meta-km/blob/master/recipes-devtools/yaml-cpp/yaml-cpp_0.3.0.bb) licensed with the MIT License.
The poco recipe is a copy of the poco recipe in the meta-oe layer licensed with the MIT License (cf. http://cgit.openembedded.org/meta-openembedded/tree/meta-oe/recipes-support/poco). The recipe is included in the meta-ros layer to support the use of older versions of the meta-oe layer.
The core-image-ros-* recipes originated from the core-image-minimal recipe in OpenEmbedded Core (cf. http://cgit.openembedded.org/openembedded-core/tree/meta/recipes-core/images/core-image-minimal.bb) licensed with the MIT License.
The original or modified files are redistributed here under the same MIT License.