Replies: 2 comments 6 replies
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Hi Ryan, This should be the minimal configuration to get someone up and building with kirkstone-next. The kirkstone-next branch should just be temporary measure for the short-term until we can verify it and merge it in to the kirkstone branch. Thanks for taking up this project, it will be great for new users! Regards,
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Thanks. Just needed an additional Instead of manually cloning all the repos with The next step would be to run the image and inspect the files to find the ROS installation in I tried: ryan@B650-970:~/Dev/yocto_ws/poky/build$ bitbake ros-image-core
Loading cache: 100% | | ETA: --:--:--
Loaded 0 entries from dependency cache.
WARNING: /home/ryan/Dev/yocto_ws/poky/meta/recipes-kernel/lttng/babeltrace_1.5.11.bb: distutils-common-base.bbclass is deprecated, please use setuptools3-base.bbclass instead | ETA: 0:00:13
Parsing recipes: 100% |#############################################################################################################################################################################################################################################| Time: 0:00:08
Parsing of 3762 .bb files complete (0 cached, 3762 parsed). 5481 targets, 224 skipped, 1 masked, 0 errors.
NOTE: Resolving any missing task queue dependencies
Build Configuration:
BB_VERSION = "2.0.0"
BUILD_SYS = "x86_64-linux"
NATIVELSBSTRING = "ubuntu-22.04"
TARGET_SYS = "x86_64-poky-linux"
MACHINE = "qemux86-64"
DISTRO = "poky"
DISTRO_VERSION = "4.0.15"
TUNE_FEATURES = "m64 core2"
TARGET_FPU = ""
DISTRO_NAME = "Poky (Yocto Project Reference Distro)"
ROS_DISTRO = "humble"
ROS_VERSION = "2"
ROS_PYTHON_VERSION = "3"
meta
meta-poky
meta-yocto-bsp = "my-kirkstone:f754b5d45b504e7486364ea9cfcb5f96086084bc"
meta-oe
meta-python = "kirkstone:730e44900a0a86265bad93a16b5a5ff344a07266"
meta-ros-common
meta-ros2
meta-ros2-humble = "kirkstone-next:685215f9837d47089d2eaaa296c1dac574f44ddf"
NOTE: Fetching uninative binary shim http://downloads.yoctoproject.org/releases/uninative/4.3/x86_64-nativesdk-libc-4.3.tar.xz;sha256sum=1c35f09a75c4096749bbe1e009df4e3968cde151424062cf4aa3ed89db22b030 (will check PREMIRRORS first)
Initialising tasks: 100% |##########################################################################################################################################################################################################################################| Time: 0:00:01
Sstate summary: Wanted 2748 Local 0 Mirrors 0 Missed 2748 Current 0 (0% match, 0% complete)
NOTE: Executing Tasks
WARNING: libsdl2-native-2.0.20-r0 do_fetch: Failed to fetch URL http://www.libsdl.org/release/SDL2-2.0.20.tar.gz, attempting MIRRORS if available
WARNING: gtest-vendor-native-1.10.9004-4-r0 do_populate_lic: QA Issue: gtest-vendor-native: No generic license file exists for: BSD in any provider [license-exists]
WARNING: gmock-vendor-native-1.10.9004-4-r0 do_populate_lic: QA Issue: gmock-vendor-native: No generic license file exists for: BSD in any provider [license-exists]
WARNING: unique-identifier-msgs-2.2.1-3-r0 do_populate_lic: QA Issue: unique-identifier-msgs: No generic license file exists for: BSD in any provider [license-exists]
WARNING: pybind11-vendor-2.4.2-1-r0 do_populate_lic: QA Issue: pybind11-vendor: No generic license file exists for: BSD in any provider [license-exists]
WARNING: console-bridge-vendor-1.4.1-1-r0 do_populate_lic: QA Issue: console-bridge-vendor: No generic license file exists for: BSD in any provider [license-exists]
WARNING: class-loader-2.2.0-3-r0 do_populate_lic: QA Issue: class-loader: No generic license file exists for: BSD in any provider [license-exists]
WARNING: pluginlib-5.1.0-3-r0 do_populate_lic: QA Issue: pluginlib: No generic license file exists for: BSD in any provider [license-exists]
WARNING: ros-image-core-1.0-r0 do_rootfs: QA Issue: The license listed BSD was not in the licenses collected for recipe class-loader [license-file-missing]
WARNING: ros-image-core-1.0-r0 do_rootfs: QA Issue: The license listed BSD was not in the licenses collected for recipe console-bridge-vendor [license-file-missing]
WARNING: ros-image-core-1.0-r0 do_rootfs: QA Issue: The license listed BSD was not in the licenses collected for recipe pluginlib [license-file-missing]
WARNING: ros-image-core-1.0-r0 do_rootfs: QA Issue: The license listed BSD was not in the licenses collected for recipe unique-identifier-msgs [license-file-missing]
NOTE: Tasks Summary: Attempted 6903 tasks of which 0 didn't need to be rerun and all succeeded.
Summary: There were 13 WARNING messages.
ryan@B650-970:~/Dev/yocto_ws/poky/build$ runqemu qemux86-64 ros-image-core
runqemu - INFO - Running MACHINE=qemux86-64 bitbake -e ...
runqemu - ERROR - Failed to find /home/ryan/Dev/yocto_ws/poky/build/tmp/deploy/images/qemux86-64/ros-image-core-qemux86-64.qemuboot.conf (wrong image name or BSP does not support running under qemu?).
runqemu - INFO - Cleaning up
runqemu - INFO - Host uptime: 370845.95
Any steps on what to do to run the image with qemu to get a shell? There are a bunch of other seemingly related files in |
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I have used the vctool. My only suggestion would be to double check that it is being maintained going forward. As far as I know it hasn't been updated in 3 years and may no longer be actively maintained. It looks like the files have the ROS distro appended to the name. (This appears to happen in meta-ros-common/classes/ros_image.bbclass: So, there is an extra "humble" in the name compared to what runqemu expects: I think you should be able to just change the command to: |
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Excellent, that works. I've updated the wiki with the instructions. I'm not too worried, vcstool is working fine as-is, used in the ROS build farm, and OSRF has said they will fix bugs. If we hit any bugs using it for the tutorial for the working group, I'm sure we could find someone to help. There's also vcstool2 which has some improvements. I've been using the original vcstool at work and for ArduPilot with zero issues. The template repository could easily add support for other tools like Google Repo. Here's the equivalent repos file: ros-image-core.repos repositories:
poky:
type: git
url: git://git.yoctoproject.org/poky
version: kirkstone
meta-openembedded:
type: git
url: https://git.openembedded.org/meta-openembedded
version: kirkstone
meta-ros:
type: git
url: https://github.com/ros/meta-ros.git
# TODO switch to kirkstone once kirkstone-next is merged
version: kirkstone-nextWhich simplifies instructions to: # Import sources with vcstool. Other tools like Google Repo could also be supported following the same format
vcs import --input ros-image-core.repos
# Initialize the build environment
cd poky
source oe-init-build-env
# Add all the layers
bitbake-layers add-layer ../../meta-openembedded/meta-oe/
bitbake-layers add-layer ../../meta-openembedded/meta-python/
bitbake-layers add-layer ../../meta-ros/meta-ros-common/
bitbake-layers add-layer ../../meta-ros/meta-ros2
bitbake-layers add-layer ../../meta-ros/meta-ros2-humble
# Run the build
bitbake ros-image-core
# Run the image
runqemu qemux86-64 ros-image-core-humbleNext Question: |
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Hi Ryan, By default the poky builds have "debug-tweaks" enabled in conf/local.conf. In this debug mode, the root password is blank. So you can just log in with root and you will not get prompted for a password:
When I tested it just now, I was using it on a build server where I was connected via SSH and didn't have root privileges. Adding slirp and nographic to runqemu allowed me to run it in the console without root privileges for the tap devices. I did find however, that I had to manually specify the cpu type as it had defaulted to compile for the IvyBridge processor and I was getting complaints unsupported CPUID features (from QEMU):
or exceptions at runtime for unimplemented instructions if I chose an earlier CPU variant:
Issue 1: The QEMU -cpu option seems like a possible bug in the Yocto QEMU BSP because the machine is configured to build for the IvyBridge instruction set, but it hasn't seemingly set the variables used by runqemu to match. This perhaps isn't seen when using kvm. I temporarily worked around this with: I was able to log in and source /usr/bin/ros_setup.sh. However it complained about unknown parameters to "head". This is because poky has busybox by default for constrained devices, however ROS makes some assumptions about bash and coreutils being installed. Issue 2: I tried sourcing the ros_setup.sh to source the environment, but I found that it required "head" from coreutils instead of the minimalistic version found in busybox. The proper thing would be for us to fix the ros-image-core.bb image recipe, (I added a comment to #1068) however as a quick fix we can just add these lines to conf/local.conf and rebuild ros-image-core: With the new image we can then source ros_setup.sh and run ros2. The ros2 command is a little slow to start and may take 10 to 20 seconds to produce output. (This is something to investigate as well)
Hope this helps! |
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Great! I followed all that. I just filed #1094 for the slow ROS 2 CLI. Not a blocker. I'll get this all added to the wiki. |
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Excellent, thank you. |
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And, adding bash (and others) to ros-image-core PR: #1095 |
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Hello! I'm creating a public discussion to get help resolving my questions when writing this tutorial: https://github.com/Ryanf55/poky/wiki/Manual-Setup-Process
I'm currently facing an issue with
bitbake-layers add-layer ../meta-ros/meta-ros2, where it reports the error:ERROR: Layer ros2-layer is not compatible with the core layer which only supports these series: kirkstone (layer is compatible with ${ROS_OE_RELEASE_SERIES})It was recommended to switch meta-ros from
kirkstonetokirkstone-next. I've done that, and meta-ros is now pointing at hash baf1fa6. Unfortunately, I still get the same problem.Rob also recommended following a gist. I think this is it. Should this line be
kirkstoneorkirkstone-next? https://gist.github.com/robwoolley/e16f60e6e8483e7ea36f7616197bab11#file-build-ros-image-world-txt-L8Beta Was this translation helpful? Give feedback.
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