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ROS 2 Layer for OpenEmbedded Linux

meta-ros2 최신버젼 다운로드

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// repository documentation

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# meta-ros2
ROS 2 Layer for OpenEmbedded Linux

# THIS PROJECT IS UNDER DEVELOPMENT
This project may contain bugs and have not being tested at all. Use under your own risk, but feel free to test, make pull request and improve this project.

Actually a main bug is causing that the Python3 writen programs not to work. If youy get the next error: `ImportError: No module named 'rclpy._rclpy'` refer to https://discourse.ros.org/t/import-error-no-module-named-rclpy--rclpy-cross-compiling/2463

## Dependencies
```
meta
meta-poky
meta-yocto-bsp    = "morty:78890ea22750804e3e9113e76f7ca3d7234c8342"
meta-xilinx *     = "morty:a24cf71a30de3b5cf665cd91979ea013bf1bb1f4"
meta-oe
meta-networking
meta-filesystems
meta-python
meta-systemd      = "morty:fe5c83312de11e80b85680ef237f8acb04b4b26e"
meta-zynqberry    = "morty:5e062627d75b41647d5ee728ee38057a8290d1e1"
meta-zynqberry-pxfmini = "master:202fcd1c1fe6f7cefa00b719cc9e0fd0b62c466e"
* https://github.com/erlerobot/meta-xilinx
```

# Develop machine

## Compile natively (without docker)

### Dependencies

```bash
cd ~
git clone https://github.com/ament/ament_package
cd ~/ament_package
sudo python3 setup.py install
cd ~
git clone https://github.com/ament/ament_tools
cd ~/ament_tools
sudo python3 setup.py install
cd ~
git clone https://github.com/ament/ament_python
cd ~/ament_python
git checkout release-beta2
sudo python3 setup.py install
```

## Create a docker container

First a docker container is needed. Use https://github.com/erlerobot/Dockerfiles/tree/master/OpenEmbedded/docker_ros2 or check getting Docker container

```
git clone https://github.com/erlerobot/Dockerfiles/
cd Dockerfiles/OpenEmbedded/docker_ros2/
docker build .
docker run -it -v ${PWD}/shared:/home/build/shared ea2400e95d98 #change the id with the generated by docker build

```

After that you will be inside the docker container

```
build@a1eaaf9dd67f:~$ git clone https://github.com/erlerobot/meta-ros2
build@a1eaaf9dd67f:~$ cd poky/
build@a1eaaf9dd67f:~$ source oe-init-build-env

```
## Get Docker
You can use the base Docker image from docker.erlerobotics.com

```
docker pull docker.erlerobotics.com/meta-ros2:latest
docker run -it -v ${PWD}/shared:/home/build/shared docker.erlerobotics.com/meta-ros2:latest
# inside docker
build@a1eaaf9dd67f:~$ cd poky/
build@a1eaaf9dd67f:~$ source oe-init-build-env
```

## Builds

The build can be perform using the next command inside the `~/poky/build` folder:

```
bitbake core-image-ros2
```

## Add recipes

`recipetool` command can be used to generate layer files, these layers needs to be generated inside the `~/poky/build` folder. After should be moved to the meta package.
For example:

```
recipetool -d create -o Fast-RTPS_1.4.0.bb https://github.com/eProsima/Fast-RTPS/archive/v1.4.0.tar.gz
```

## Recomendations

- Use the server, is faster.
 - Before exiting your container make a commit. If not, you will need to recompile all your job.

```
docker commit hopeful_kare zynqberry-ros2-base1
```

## Debug

Probably you will need to install the next repo inside docker, launching the `setup.py` file
https://github.com/ament/ament_python

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