Target | Status |
---|---|
ROS Galactic - Ubuntu Focal (OpenJDK) |
This is a set of projects (bindings, code generator, examples and more) that enables developers to write ROS 2 applications for the JVM and Android.
Besides this repository itself, there's also:
No, any language that targets the JVM can be used to write ROS 2 applications.
Yep! Make sure to use Fast-RTPS as your DDS vendor and at least this revision.
The current set of features include:
Note: While the following instructions use a Linux shell the same can be done on other platforms like Windows with slightly adjusted commands.
Install Java and a JDK.
On Ubuntu, you can install OpenJDK with:
sudo apt install default-jdk
Install Gradle. Make sure you have Gradle 3.2 (or later) installed.
Ubuntu Bionic or later
sudo apt install gradle
macOS
brew install gradle
Note: if run into compatibily issues between gradle 3.x and Java 9, try using Java 8,
brew tap caskroom/versions
brew cask install java8
export JAVA_HOME=/Library/Java/JavaVirtualMachines/1.8.0.jdk/Contents/Home
Windows
choco install gradle
Install build tools:
sudo apt install curl python3-colcon-common-extensions python3-pip python3-vcstool
Install Gradle extensions for colcon:
python3 -m pip install -U git+https://github.com/colcon/colcon-gradle
python3 -m pip install --no-deps -U git+https://github.com/colcon/colcon-ros-gradle
Source your ROS 2 installation, for example:
source /opt/ros/galactic/setup.bash
Download the ROS 2 Java repositories into a workspace:
mkdir -p ros2_java_ws/src
cd ros2_java_ws
curl -skL https://raw.githubusercontent.com/ros2-java/ros2_java/main/ros2_java_desktop.repos | vcs import src
Linux only Install ROS dependencies:
rosdep install --from-paths src -y -i --skip-keys "ament_tools"
Build desktop packages:
colcon build --symlink-install
Note, on Windows we have to use --merge-install
colcon build --merge-install
The Android setup is slightly more complex, you'll need the SDK and NDK installed, and an Android device where you can run the examples.
Make sure to download at least the SDK for Android Lollipop (or greater), the examples require the API level 21 at least and NDK 14.
You may download the Android NDK from the official website, let's assume you've downloaded 16b (the latest stable version as of 2018-04-28) and you unpack it to ~/android_ndk
We'll also need to have the Android SDK installed, for example, in ~/android_sdk
and set the ANDROID_HOME
environment variable pointing to it.
Although the ros2_java_android.repos
file contains all the repositories for the Android bindings to compile, we'll have to disable certain packages (python_cmake_module
, rosidl_generator_py
, test_msgs
) that are included the repositories and that we either don't need or can't cross-compile properly (e.g. the Python generator)
Download the Android NDK and set the environment variable ANDROID_NDK
to the path where it is extracted.
Download the Android SDK and set the environment variable ANDROID_HOME
to the path where it is extracted.
Clone ROS 2 and ROS 2 Java source code:
mkdir -p $HOME/ros2_android_ws/src
cd $HOME/ros2_android_ws
curl https://raw.githubusercontent.com/ros2-java/ros2_java/main/ros2_java_android.repos | vcs import src
Set Android build configuration:
export PYTHON3_EXEC="$( which python3 )"
export PYTHON3_LIBRARY="$( ${PYTHON3_EXEC} -c 'import os.path; from distutils import sysconfig; print(os.path.realpath(os.path.join(sysconfig.get_config_var("LIBPL"), sysconfig.get_config_var("LDLIBRARY"))))' )"
export PYTHON3_INCLUDE_DIR="$( ${PYTHON3_EXEC} -c 'from distutils import sysconfig; print(sysconfig.get_config_var("INCLUDEPY"))' )"
export ANDROID_ABI=armeabi-v7a
export ANDROID_NATIVE_API_LEVEL=android-21
export ANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-clang
Build (skipping packages that we don't need or can't cross-compile):
colcon build \
--packages-ignore cyclonedds rcl_logging_log4cxx rosidl_generator_py \
--packages-up-to rcljava \
--cmake-args \
-DPYTHON_EXECUTABLE=${PYTHON3_EXEC} \
-DPYTHON_LIBRARY=${PYTHON3_LIBRARY} \
-DPYTHON_INCLUDE_DIR=${PYTHON3_INCLUDE_DIR} \
-DCMAKE_TOOLCHAIN_FILE=${ANDROID_NDK}/build/cmake/android.toolchain.cmake \
-DANDROID_FUNCTION_LEVEL_LINKING=OFF \
-DANDROID_NATIVE_API_LEVEL=${ANDROID_NATIVE_API_LEVEL} \
-DANDROID_TOOLCHAIN_NAME=${ANDROID_TOOLCHAIN_NAME} \
-DANDROID_STL=c++_shared \
-DANDROID_ABI=${ANDROID_ABI} \
-DANDROID_NDK=${ANDROID_NDK} \
-DTHIRDPARTY=ON \
-DCOMPILE_EXAMPLES=OFF \
-DCMAKE_FIND_ROOT_PATH="${PWD}/install"
You can find more information about the Android examples at https://github.com/ros2-java/ros2_android_examples
Contributions are more than welcome! If you'd like to contribute to the project, please read CONTRIBUTING for contributing guidelines.