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Xilinx / KRS

The Kria Robotics Stack (KRS) is a ROS 2 superset for industry, an integrated set of robot libraries and utilities to accelerate the development, maintenance and commercialization of industrial-grade robotic solutions while using adaptive computing.
https://Xilinx.github.io/KRS/
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Issue with source the ROS 2 overlay workspace - 0 ROS 2 publisher #50

Open mohammedrafi-sk opened 2 years ago

mohammedrafi-sk commented 2 years ago

While trying the vadd_publisher example onboard, the step to source the ROS 2 overlay workspace . /ros2_ws/local_setup.bash, is failing as there is no ros2_ws folder in /

xilinx-k26-som-2021_2:~$ ls -l /
total 64
drwxr-xr-x   2 root root  4096 Mar 19 03:11 bin
drwxr-xr-x   3 root root  4096 Mar 19 03:11 boot
drwxr-xr-x   4 root root     0 Dec 31  1969 configfs
drwxr-xr-x  13 root root 14540 Mar  9  2018 dev
drwxr-xr-x  58 root root  4096 Mar 19 04:12 etc
drwxr-xr-x   4 root root  4096 Mar 19 03:11 home
lrwxrwxrwx   1 root root    10 Mar 19 03:11 init -> /sbin/init
drwxr-xr-x   4 root root  4096 Mar 19 03:11 krs_ws
drwxr-xr-x   9 root root  4096 Mar 19 03:11 lib
drwx------   2 root root 16384 Mar 19 03:11 lost+found
drwxr-xr-x   4 root root  4096 Dec 31  1969 media
drwxr-xr-x   2 root root  4096 Dec 31  1969 mnt
drwxr-xr-x   3 root root  4096 Mar 19 03:11 opt
dr-xr-xr-x 163 root root     0 Dec 31  1969 proc
drwxr-xr-x   7 root root   620 Mar  9  2018 run
drwxr-xr-x   3 root root  4096 Mar 19 03:11 sbin
dr-xr-xr-x  13 root root     0 Dec 31  1969 sys
lrwxrwxrwx   1 root root     8 Mar  9  2018 tmp -> /var/tmp
drwxr-xr-x  11 root root  4096 Mar 19 03:11 usr
drwxr-xr-x   9 root root  4096 Mar  9  2018 var

I believe . /krs_ws/local_setup.bash is the corrent one

vmayoral commented 2 years ago

No, you are mixing things up.

krs_ws is the workspace in your workstation to build KRS. ros2_ws is the resulting cross-compiled install directory that you need to scp into the embedded board.

It’s explained as such in the documentation. Refer to it.

mohammedrafi-sk commented 2 years ago

In the double_vadd it mentiones we can scp the content to board. But in the vadd-publisher, it says the content is already copied to sd_card.img.

$ . /ros2_ws/local_setup.bash     # source the ROS 2 overlay workspace we just
                                  # created. Note it has been copied to the SD
                                  # card image while being created.

But there is no ros2_ws, but instead, i found krs_ws in root folder

vmayoral commented 2 years ago

But in the vadd-publisher, it says the content is already copied to sd_card.img.

Correct, the following line does it:

colcon acceleration linux vanilla --install-dir install-kv260

Which can be traced back to:

I recall having enforced the naming ros2_ws somewhere but don't quite find it right now. @mohammedrafi-sk can you check if you got a /install-kv260 instead in your embedded device? If so, that's the actual confusion and it'd need to be fixed in the documentation (and a PR would be more than welcome!).

Renaming or scp-ing the folder will do for you.

mohammedrafi-sk commented 2 years ago

No, I don't see any /install-kv260 folder on the board. Here is the content on the root folder https://github.com/Xilinx/KRS/issues/50#issue-1174243382

vmayoral commented 2 years ago

No, I don't see any /install-kv260 folder on the board.

@mohammedrafi-sk, see the documentation please. And follow that. Particularly:

You can do this in various ways (physically mounting the raw image in the SD card, scp-ing the ROS 2 workspace, etc.).

As pointed out above, depending on how you create your SD card raw image the cross-compiled workspace might (or might not) be copied for you but regardless, you can just drop it yourself in embedded. It's a simple ROS 2 overlay workspace. Source it and make use of its content.

mohammedrafi-sk commented 2 years ago

Okay, After copying the content with scp , I am able to run the publisher. Thanks