Workflow for cross-development catkin packages with meta-ros

graugans commented 8 years ago

This issue is a follow up of the discussion with @sephalon and @dominiquehunziker on pull request #376

I have the following scenario in mind. We develop a embedded embedded system and provide the customers a toolchain for this target. The toolchain is generated by the populate_sdk task. This task generates a SDK suited for the image deployed on the target. It would be really cool when the user could do the following and compile packages for the target in this case the O3D3xx ToF Camera ROS Package from @tpanzarella

$ source /opt/poky/1.8.1/environment-setup-armv7ahf-vfp-neon-poky-linux-gnueabi
$ mkdir o3d3xx-catkin
$ cd o3d3xx-catkin
$ mkdir src
$ cd src
$ catkin_init_workspace
$ ln -s ~/dev/o3d3xx-ros o3d3xx
$ catkin_make

In my naive way I tried to build a nativesdk version of catkin. To be able to build the nativesdk packages the following patch was needed. This patch is against my fork for integration of the libo3d3xx into meta-ros

 diff --git a/recipes-devtools/python/python-catkin-pkg_1.2.6.bb b/recipes-devtools/python/python-catkin-pkg_0.2.6.bb
index fe54e25..259c388 100644
--- a/recipes-devtools/python/python-catkin-pkg_0.2.6.bb
+++ b/recipes-devtools/python/python-catkin-pkg_0.2.6.bb
@@ -12,4 +12,4 @@ S = "${WORKDIR}/${SRCNAME}-${PV}"

 inherit distutils

-BBCLASSEXTEND = "native"
+BBCLASSEXTEND = "native nativesdk"
diff --git a/recipes-devtools/python/python-empy_3.3.2.bb b/recipes-devtools/python/python-empy_3.3.2.bb
index bfe11e4..b6a8a44 100644
--- a/recipes-devtools/python/python-empy_3.3.2.bb
+++ b/recipes-devtools/python/python-empy_3.3.2.bb
@@ -12,4 +12,4 @@ S = "${WORKDIR}/${SRCNAME}-${PV}"

 inherit distutils

-BBCLASSEXTEND = "native"
+BBCLASSEXTEND = "native nativesdk"
diff --git a/recipes-extended/libo3d3xx/libo3d3xx-camera_0.4.0.bb b/recipes-extended/libo3d3xx/libo3d3xx-camera_0.4.0.bb
index 556106b..a41a6c6 100644
--- a/recipes-extended/libo3d3xx/libo3d3xx-camera_0.4.0.bb
+++ b/recipes-extended/libo3d3xx/libo3d3xx-camera_0.4.0.bb
@@ -6,4 +6,4 @@ DEPENDS = "boost glog libxmlrpc"
 S = "${WORKDIR}/libo3d3xx-${PV}/modules/camera"
 FILES_${PN}-dev += "${prefix}/lib/o3d3xx_camera"

-BBCLASSEXTEND += "native"
+BBCLASSEXTEND += "native nativesdk"
diff --git a/recipes-extended/libxmlrpc/libxmlrpc_1.33.17.bb b/recipes-extended/libxmlrpc/libxmlrpc_1.33.17.bb
index 475423d..0c1490c 100644
--- a/recipes-extended/libxmlrpc/libxmlrpc_1.33.17.bb
+++ b/recipes-extended/libxmlrpc/libxmlrpc_1.33.17.bb
@@ -41,4 +41,4 @@ B = "${S}"
 SRC_URI[md5sum] = "5c1b4514ffc8a7e0e30aeddd3bb5c83e"
 SRC_URI[sha256sum] = "50118a3ca1114828f7cae27b7253cc25045849e487f5d0bb91d962777fc05355"

-BBCLASSEXTEND = "native"
\ No newline at end of file
+BBCLASSEXTEND = "native nativesdk"
diff --git a/recipes-ros/catkin/catkin-runtime_0.6.16.bb b/recipes-ros/catkin/catkin-runtime_0.6.16.bb
index a63ec53..712d824 100644
--- a/recipes-ros/catkin/catkin-runtime_0.6.16.bb
+++ b/recipes-ros/catkin/catkin-runtime_0.6.16.bb
@@ -23,4 +23,4 @@ do_install_append() {
     rm -rf ${D}${ros_libdir}/pkgconfig
 }
-BBCLASSEXTEND += "native"
+BBCLASSEXTEND += "native nativesdk"
diff --git a/recipes-ros/catkin/catkin_0.6.16.bb b/recipes-ros/catkin/catkin_0.6.16.bb
index b09e07c..f0be7bb 100644
--- a/recipes-ros/catkin/catkin_0.6.16.bb
+++ b/recipes-ros/catkin/catkin_0.6.16.bb
@@ -1,8 +1,10 @@
 require catkin.inc

 DEPENDS_class-native += "catkin-runtime"
+DEPENDS_class-nativesdk += "catkin-runtime"

 RDEPENDS_${PN}_class-native = ""
+RDEPENDS_${PN}_class-nativesdk = ""
 RDEPENDS_${PN} = "cmake make binutils binutils-symlinks gcc gcc-symlinks g++ g++-symlinks \
     catkin-runtime"

@@ -17,4 +19,4 @@ do_install_append() {
     rmdir ${D}${ros_libdir}/python2.7
 }

-BBCLASSEXTEND += "native"
+BBCLASSEXTEND += "native nativesdk"
diff --git a/recipes-support/boost/boost_%.bbappend b/recipes-support/boost/boost_%.bbappend
index ec17f55..78ee78f 100644
--- a/recipes-support/boost/boost_%.bbappend
+++ b/recipes-support/boost/boost_%.bbappend
@@ -1 +1,2 @@
 PACKAGECONFIG_append = " python"
+BBCLASSEXTEND += "nativesdk"
diff --git a/recipes-support/glog/glog_%.bbappend b/recipes-support/glog/glog_%.bbappend
index d6f5869..5174650 100644
--- a/recipes-support/glog/glog_%.bbappend
+++ b/recipes-support/glog/glog_%.bbappend
@@ -1 +1 @@
-BBCLASSEXTEND += "native"
+BBCLASSEXTEND += "native nativesdk"

The nativesdk-catkin builds fine and after adding the following to TOOLCHAIN_HOST_TASK I do have catkin in my SDK.

TOOLCHAIN_HOST_TASK +=  \"
    nativesdk-cmake \
    nativesdk-catkin \
    nativesdk-catkin-dev \
    nativesdk-python-catkin-pkg \
    nativesdk-python-catkin-pkg-dev \
    nativesdk-catkin-runtime \
    nativesdk-catkin-runtime-dev \
"

All of this is a bit hacks and need some polishing. But I want to ask if this is a possible way to go or if I will run in more headache then I do expect at the moment.

dominiquehunziker commented 8 years ago

This is along the same lines as what I have.

The main issue that has to be addressed (as with getting catkin working on the embedded target) are all the files auto-generated by catkin (such as Config.cmake) containing hard-coded absolute paths.

I will try to clean up what I have and will commit it to our fork.

graugans commented 8 years ago

That would be really helpful. Thanks in advance.

dominiquehunziker commented 8 years ago

So, I finally was able to clean up my current status a bit which can be found here

The current status contains a test-image which I was using as a basis for the command populate_sdk and as a similar image on the target.

I still have several issues; foremost, I have now an issue that for some reason the boost_thread library is no longer properly linked and has to be manually added (i.e., by patching the CMakeLists.txt) to quite a few packages. Also, the generated setup.<shell> scripts as well as the _setup_util.py script is not yet correct.

Finally, here the commands to build stuff using the SDK:

cd <catkin_ws>
catkin_make --cmake-args -Wno-dev -DCATKIN_ENABLE_TESTING=OFF -DCATKIN_BUILD_BINARY_PACKAGE=ON

-Wno-dev to suppress some annoying warnings (I haven't looked into them yet) with regard to the include directories which are now prefixed with = to better support cross compilation. This offloads the responsibility of finding the proper includes to the compiler (I have tested this only with gcc, so no guarantees that this will work with other compilers)
-DCATKIN_ENABLE_TESTING=OFF to disable testing just to void huge dependencies
-DCATKIN_BUILD_BINARY_PACKAGE=ON to suppress the generation of of the (broken) setup.<shell> and _setup_util.py utilities

and to install it:

cd <catkin_ws>
DESTDIR=<target sysroot> catkin_make install --cmake-args -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo

Notes:

there are backport recipes in recipes-backport which are stored in directories named <commit date>-<commit hash>; so depending on which commit you are using you will have to remove some/all of them. (I only tested with one version, namely the one where all these backports where necessary)
In the SDK only catkin_make and catkin_make_isolated (not tested) will work (see the catkin environment hook for the alias used in case you want to test catkin-tools)

Yaaaaao commented 4 years ago

Hi everyone!

May I ask if current meta-ros (ROS2 Eloquent distro) SDK still work or not? Is it possible to cross-compile a ROS package using an Eloquent OE SDK?

Best Regard, Yao

ros / meta-ros

Workflow for cross-development catkin packages with meta-ros #380