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Wind-River / vxworks7-ros2-build

Build system to automate the build of VxWorks 7 and ROS2
Apache License 2.0
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what is the procedure to construct something mine with ROS2 inside VxWorks. #34

Closed razr closed 2 years ago

razr commented 2 years ago

Hi @razr, ROS2 NATIVE COMPILATION problem SOLVED: rebuild as you mentioned and bypassed sourcing env. operation and worked well, the example you provided worked and it is printed HelloWord! messages

Then i tried to launch:

-> cmd
[vxWorks *]# set env AMENT_PREFIX_PATH="/ata4"
[vxWorks *]# rtp exec -u 0x20000 python3 /ata4/lib/demo_nodes_py/talker
Launching process 'python3' ...
rtp exec: unable to launch process "python3" (errno = 0x290010).

But still i can't understand what is the procedure to construct something mine with ROS2 inside VxWorks. I but now i want to develop a little project by myself. My intentions is to build an arm robotic application on VxWorks as my VxWorks. Theoretically i should need my ROS 2 workspace, my packages and each package should contain nodes that i can compile and then launch all nodes to develop something useful IN VxWorks, so running on [VxWorks *]# terminal. Currently i don't understand the structure of the entire system i've built and the development workflow.

I know that /export/deploy has bins like timer lambda compiled for VxWorks. So my idea was "i built my architecture in local with colcon, move all my executable to export/deploy and run it withrtp exec -u 0x20000 ros2 run ...". For example i tried moving MYTalker inside /export/deploy but VxWorks can't execute it. It is not the solution i guess.

Last i've noticed that inside build there is a directory called /ros2_ws (/home/rosdev/VxWorks_ros2_master/vxworks7-ros2-build/build/ros2/ros2_ws) with a workspace, maybe i should place my package and do twice all the procedure from scratch.

I am really sorry if i ask you all this questions but i'm stucked at this point and i want to go forward and develop my own architecture. I should need a complete example of development to clarify my doubts. I can't even understand if i have to use catkin.

Thank you again, hope it's ok if ask you some questions.

Enrico

Originally posted by @enriLoniterp in https://github.com/Wind-River/vxworks7-ros2-build/issues/28#issuecomment-1184407275

razr commented 2 years ago

@enriLoniterp I have provided a description for the VxWorks ROS2 development, please take a look