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
   

   For Raspberry Pi 4 use:

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

   For Intel 64 use:

   ../wrlinux-x/setup.sh --machines=intel-x86-64 --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 wrlinux-lts19-ros2
   

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

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

   cd $BUILDDIR
   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
   

8. (Optional Raspberry Pi 4) Add the rpi-graphics layer for hardware acceleration.

   bitbake-layers add-layer ../layers/bcm-2xxx-rpi/rpi-graphics/
   

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 Graphics) Add support for OpenGL graphics with demo examples.

    IMAGE_INSTALL_append += "\
    xserver-xorg \
    xserver-xorg-extension-glx \
    mesa \
    mesa-demos"
    

13. (Optional) For building applications on the device add the following lines.

    IMAGE_INSTALL_append += "\
    packagegroup-core-buildessential \
    git"
    

14. (Optional Qt) Add qt5 to the configuration.

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

    WRTEMPLATE = "feature/qt5 feature/lxqt"
    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"
    

15. Set the license flags whitelist to allow the use of commercial graphics drivers.

    LICENSE_FLAGS_WHITELIST = "commercial"
    

16. 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 \
    "
    

17. (Optional Raspberry Pi) Edit cmdline.txt to adjust the kernel parameters.

    $ cat ../layers/bcm-2xxx-rpi/recipes-bsp/boot-config/boot-config/cmdline.txt
    dwc_otg.lpm_enable=0 console=serial0,115200 root=/dev/mmcblk0p2 rootfstype=ext4 rootwait ip=dhcp
    $ echo 'dwc_otg.lpm_enable=0 console=tty root=/dev/mmcblk0p2 rootfstype=ext4 rootwait' > ../layers/bcm-2xxx-rpi/recipes-bsp/boot-config/boot-config/cmdline.txt
    

    Note: These changes ensure that the console output appears on the HDMI display and that the boot sequence doesn't wait for a DHCP connection.

18. Build Wind River Linux standard filesystem

    bitbake wrlinux-image-std
    

19. (Optional Graphics) Build Wind River Linux with graphics.

    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.