wr-ros

Overview

wr-ros provides recipes for integrated the meta-ros layer with Wind River Linux.

Project License

The source code for this project is provided under the MIT license. Text for any dependencies and other applicable license notices can be found in the LICENSE-NOTICES.txt file in the project top level directory. Different files may be under different licenses. Each source file should include a license notice that designates the licensing terms for the respective file.

Prerequsisites

URI: git://github.com/ros/meta-ros.git
branch: zeus

URI: https://github.com/meta-qt5/meta-qt5.git
branch: zeus

URI: https://github.com/schnitzeltony/meta-qt5-extra.git
branch: zeus

URI: https://github.com/IntelRealSense/meta-intel-realsense
branch: zeus

Maintenance

Rob Woolley [email protected]

Instructions

1. Download Wind River Linux LTS 19

   Clone the Wind River Linux repository into a new project directory.

   git clone -b WRLINUX_10_19_BASE https://github.com/WindRiver-Labs/wrlinux-x.git
   

2. Configure Wind River Linux in a new build directory

   mkdir wrlinux-ros2
   cd wrlinux-ros2
   ../wrlinux-x/setup.sh --machines=bcm-2xxx-rpi4 --distros=wrlinux --dl-layers
   

3. Add the additional layers

   cd layers
   git clone -b zeus https://github.com/ros/meta-ros.git
   git clone https://github.com/Wind-River/meta-robot.git
   git clone https://github.com/Wind-River/wr-ros.git
   git clone -b zeus https://github.com/IntelRealSense/meta-intel-realsense.git
   

4. (Optional Qt) Add the Qt5 layers

   git clone -b zeus https://github.com/meta-qt5/meta-qt5.git
   git clone -b zeus https://github.com/schnitzeltony/meta-qt5-extra.git
   

5. Return to the wrlinux-ros2 directory

   cd ..
   

6. Initialize the build environment

   . environment-setup-x86_64-wrlinuxsdk-linux
   . oe-init-build-env raspberrypi4-build
   

7. Download and set up ROS Layers

   This section assumes that you have sourced the OpenEmbedded build environment in the previous step.

   cd $BUILDDIR
   

8. Configure Bitbake layers Use bitbake-layers to add the ROS2 layers to your BitBake configuration.

   bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-ros/meta-ros-common
   bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-ros/meta-ros2
   bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-ros/meta-ros2-foxy
   bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-ros/meta-ros-backports-dunfell
   bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/wr-ros
   bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-intel-realsense
   

9. (Optional Qt) Add the Qt5 layers

   bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-qt5
   bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-qt5-extra
   

10. (Optional Qt) Download and patch the unsupported Qt5 integration for Wind River Linux

    cd $BUILDDIR/../layers/wrlinux
    curl -O https://labs.windriver.com/downloads/0001-wrlinux-template-add-template-qt5-for-wrlinux.patch
    git am 0001-wrlinux-template-add-template-qt5-for-wrlinux.patch
    curl -O https://labs.windriver.com/downloads/0002-wrlinux-template-add-lxqt-support-for-wrlinux.patch
    git am 0002-wrlinux-template-add-lxqt-support-for-wrlinux.patch
    cd $BUILDDIR/../layers/meta-qt5-extra
    curl -O https://labs.windriver.com/downloads/0001-polkit-qt-1-fix-compile-error.patch
    git am 0001-polkit-qt-1-fix-compile-error.patch
    cd $BUILDDIR
    

11. Modify local configuration

    Enable network access for fetching source tarballs and disable all the whitelist layers.

    Add the following to the end of conf/local.conf

    BB_NO_NETWORK = '0'
    PNWHITELIST_LAYERS = ""
    DISTRO_FEATURES_append = " x11 opengl vulkan polkit"
    IMAGE_INSTALL_append += " packagegroup-ros-world"
    
    SYSROOT_DIRS_append += " ${nonarch_libdir} "
    FILES_${PN}-dbg += "${nonarch_libdir}/.debug"
    FILES_${PN}-dev += "${nonarch_libdir}/pkgconfig ${nonarch_libdir}/cmake"
    FILES_${PN} += "${nonarch_libdir}/lib*.so*"
    FILES_${PN} += "${nonarch_libdir}/${ROS_BPN}"
    FILES_${PN} += "${nonarch_libdir}/${PYTHON_DIR}"
    FILES_${PN}-dev += "${nonarch_libdir}/${PYTHON_DIR}/site-packages/*.la"
    FILES_${PN}-staticdev += "${nonarch_libdir}/lib*.a"
    FILES_${PN}-staticdev += "${nonarch_libdir}/${PYTHON_DIR}/site-packages/*.a"
    INSANE_SKIP_${PN}-dbg += "libdir"
    INSANE_SKIP_${PN} += "dev-so libdir"
    

12. (Optional Qt) Add qt5 to the configuration

    Edit the conf/local.conf again to add the following lines:

    WRTEMPLATE = "feature/qt5"
    LICENSE_FLAGS_WHITELIST = "commercial"
    ROS_WORLD_SKIP_GROUPS_remove = "world-license"
    ROS_WORLD_SKIP_GROUPS_remove = "turtlebot3"
    ROS_WORLD_SKIP_GROUPS_remove = "qt-gui-cpp"
    ROS_WORLD_SKIP_GROUPS_remove = "world-license-faad"
    PACKAGECONFIG_append_pn-qtbase-native = " gui"
    

13. Remove webots from packagegroup-ros-world-foxy

    Edit the conf/local.conf again to add the following lines:

    ROS_WORLD_SKIP_GROUPS += "webots-python-modules"
    
    RDEPENDS_packagegroup-ros-world-foxy_remove += " \
        webots-ros2-epuck \
        webots-ros2-tiago \
        webots-ros2-universal-robot \
    "
    

14. Build Wind River Linux standard filesystem

    bitbake wrlinux-image-std
    

15. (Optional Qt) Build Wind River Linux with Qt5

    bitbake wrlinux-image-std-sato
    

Legal Notices

All product names, logos, and brands are property of their respective owners. All company, product and service names used in this software are for identification purposes only. Wind River and VxWorks are registered trademarks of Wind River Systems, Inc. UNIX is a registered trademark of The Open Group.

Disclaimer of Warranty / No Support: Wind River does not provide support and maintenance services for this software, under Wind River’s standard Software Support and Maintenance Agreement or otherwise. Unless required by applicable law, Wind River provides the software (and each contributor provides its contribution) on an “AS IS” BASIS, WITHOUT WARRANTIES OF ANY KIND, either express or implied, including, without limitation, any warranties of TITLE, NONINFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for determining the appropriateness of using or redistributing the software and assume any risks associated with your exercise of permissions under the license.