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ROS2

Fri, 12/07/2018 - 16:50

← Older revision Revision as of 23:50, 7 December 2018 (25 intermediate revisions by the same user not shown)Line 3: Line 3: ==Goals== ==Goals== −Notes:+'''Notes:''' * Controlling and initializing of multi-camera systems is already implemented using PHP API (autocampars.php), Python and lighttpd. * Controlling and initializing of multi-camera systems is already implemented using PHP API (autocampars.php), Python and lighttpd. * Using ROS2 is intended to simplify/standardize the above. * Using ROS2 is intended to simplify/standardize the above. Line 33: Line 33: * For Embedded Linux (but not Ubuntu Distro) use [https://github.com/bmwcarit/meta-ros.git meta-ros.git]. What about [https://github.com/erlerobot/meta-ros2 meta-ros2]? * For Embedded Linux (but not Ubuntu Distro) use [https://github.com/bmwcarit/meta-ros.git meta-ros.git]. What about [https://github.com/erlerobot/meta-ros2 meta-ros2]? '''TODO:''' Include [https://github.com/bmwcarit/meta-ros.git meta-ros.git] in [https://git.elphel.com/Elphel/elphel393 elphel393] build system. '''TODO:''' Include [https://github.com/bmwcarit/meta-ros.git meta-ros.git] in [https://git.elphel.com/Elphel/elphel393 elphel393] build system. +====Include meta-ros to elphel393==== +* Add path to bblayers.conf +* Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb: + packagegroup-ros2-world \ ===Workflow=== ===Workflow=== +'''Notes:''' +* ROS2 for python populates '''/usr/lib/python3.5/site-packages/''' so python scripts can live anywhere. +* For command line apps, like ''ros2 ...'', if AMENT_PREFIX_PATH is not set then: + '''OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty''' +* Useful examples (command line): + export AMENT_PREFIX_PATH=/usr + ros2 pkg list + ros2 node list + ros2 srv list + ros2 srv show std_srvs/Trigger + ros2 msg list + ros2 msg show std_msgs/String + +===Demos=== +====talker-listener cpp==== + ''# terminal 1:'' + export AMENT_PREFIX_PATH=/usr + ros2 run demo_nodes_cpp talker + + ''# terminal 2:'' + export AMENT_PREFIX_PATH=/usr + ros2 run demo_nodes_cpp listener ==ROS2 on PC== ==ROS2 on PC== Line 47: Line 73: * ROS2 will get installed to '''/opt/ros/<name>''', <name> = ardent, bouncy. * ROS2 will get installed to '''/opt/ros/<name>''', <name> = ardent, bouncy. * Terminal setup: * Terminal setup: − source /opt/ros/bouncy/setup.bash+ ''source /opt/ros/bouncy/setup.bash'' or or − source /opt/ros/bouncy/local_setup.bash+ ''source /opt/ros/bouncy/local_setup.bash'' * Create a workspace * Create a workspace Line 74: Line 100: * [https://discourse.ros.org/t/suggestions-for-std-srvs/1079/16 STD-SRVS '''discussion'''] & [https://github.com/ros2/examples/issues/4 ROS2 examples(?)] * [https://discourse.ros.org/t/suggestions-for-std-srvs/1079/16 STD-SRVS '''discussion'''] & [https://github.com/ros2/examples/issues/4 ROS2 examples(?)] * [https://discourse.ros.org/search?q=meta-ros%20order%3Alatest About meta-ros] * [https://discourse.ros.org/search?q=meta-ros%20order%3Alatest About meta-ros] − −===Docker=== − docker pull osrf/ros2:bouncy-desktop − docker run -i -t osrf/ros2:bouncy-desktop − ...no network, no colcon, no ament... − −==ROS2 on Zynq== −Cross-compiled and installed in Yocto − −===Other links=== * [http://design.ros2.org/articles/ros_on_dds.html ROS on DDS] * [http://design.ros2.org/articles/ros_on_dds.html ROS on DDS] ... ... Line 94: Line 110: * [https://wiki.ros.org/Services Request-Response is done with '''service''']. Format [https://wiki.ros.org/srv srv] * [https://wiki.ros.org/Services Request-Response is done with '''service''']. Format [https://wiki.ros.org/srv srv] −===Build===+===Docker=== −* Add path to bblayers.conf+ docker pull osrf/ros2:bouncy-desktop −* Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb:+ docker run -i -t osrf/ros2:bouncy-desktop − packagegroup-ros2-world \+ ...no network, no colcon, no ament... − −'''Notes:''' −* - − −===Work=== − −====Available packages==== −* SSH session: − root@elphel393:~# export AMENT_PREFIX_PATH=/usr − root@elphel393:~# ros2 pkg list − builtin_interfaces − demo_nodes_cpp − example_interfaces − geometry_msgs − rcl − rcl_interfaces − rclcpp − rclpy − rcutils − rmw − rmw_fastrtps_cpp − rosidl_cmake − rosidl_generator_c − rosidl_generator_cpp − rosidl_parser − rosidl_typesupport_interface − rosidl_typesupport_introspection_c − rosidl_typesupport_introspection_cpp − sensor_msgs − −====Test Talker and Listener==== −* SSH session 1: − root@elphel393:~# export AMENT_PREFIX_PATH=/usr − root@elphel393:~# ros2 run demo_nodes_cpp talker −* SSH session 2: − root@elphel393:~# export AMENT_PREFIX_PATH=/usr − root@elphel393:~# ros2 run demo_nodes_cpp listener − −'''Notes:''' −* It populates '''/usr/lib/python3.5/site-packages/''' so python scripts can be pretty much standalone −* If AMENT_PREFIX_PATH is not set (only for command line apps) then: − Traceback (most recent call last): − File "/usr/bin/ros2", line 11, in <module> − load_entry_point('ros2cli==0.4.0', 'console_scripts', 'ros2')() − File "/usr/lib/python3.5/site-packages/ros2cli/cli.py", line 64, in main − rc = extension.main(parser=parser, args=args) − File "/usr/lib/python3.5/site-packages/ros2run/command/run.py", line 59, in main − executable_name=args.executable_name) − File "/usr/lib/python3.5/site-packages/ros2run/api/__init__.py", line 30, in get_executable_path − paths = get_executable_paths(package_name=package_name) − File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 41, in get_executable_paths − prefix_path = get_prefix_path(package_name) − File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 34, in get_prefix_path − prefix_path = get_package_prefix(package_name) − File "/usr/lib/python3.5/site-packages/ament_index_python/packages.py", line 49, in get_package_prefix − content, package_prefix = get_resource('packages', package_name) − File "/usr/lib/python3.5/site-packages/ament_index_python/resources.py", line 37, in get_resource − for path in get_search_paths(): − File "/usr/lib/python3.5/site-packages/ament_index_python/search_paths.py", line 30, in get_search_paths − "Environment variable '{}' is not set or empty".format(AMENT_PREFIX_PATH_ENV_VAR)) − '''OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty''' ==ROS1== ==ROS1== − ===Build=== ===Build=== '''Won't build''' '''Won't build''' Oleg

ROS2

Fri, 12/07/2018 - 16:50

← Older revision Revision as of 23:50, 7 December 2018 (26 intermediate revisions by the same user not shown)Line 3: Line 3: ==Goals== ==Goals== −Notes:+'''Notes:''' * Controlling and initializing of multi-camera systems is already implemented using PHP API (autocampars.php), Python and lighttpd. * Controlling and initializing of multi-camera systems is already implemented using PHP API (autocampars.php), Python and lighttpd. * Using ROS2 is intended to simplify/standardize the above. * Using ROS2 is intended to simplify/standardize the above. Line 33: Line 33: * For Embedded Linux (but not Ubuntu Distro) use [https://github.com/bmwcarit/meta-ros.git meta-ros.git]. What about [https://github.com/erlerobot/meta-ros2 meta-ros2]? * For Embedded Linux (but not Ubuntu Distro) use [https://github.com/bmwcarit/meta-ros.git meta-ros.git]. What about [https://github.com/erlerobot/meta-ros2 meta-ros2]? '''TODO:''' Include [https://github.com/bmwcarit/meta-ros.git meta-ros.git] in [https://git.elphel.com/Elphel/elphel393 elphel393] build system. '''TODO:''' Include [https://github.com/bmwcarit/meta-ros.git meta-ros.git] in [https://git.elphel.com/Elphel/elphel393 elphel393] build system. +====Include meta-ros to elphel393==== +* Add path to bblayers.conf +* Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb: + packagegroup-ros2-world \ ===Workflow=== ===Workflow=== +'''Notes:''' +* ROS2 for python populates '''/usr/lib/python3.5/site-packages/''' so python scripts can live anywhere. +* For command line apps, like ''ros2 ...'', if AMENT_PREFIX_PATH is not set then: + '''OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty''' +* Useful examples (command line): + export AMENT_PREFIX_PATH=/usr + + ros2 pkg list + ros2 node list + ros2 srv list + ros2 srv show std_srvs/Trigger + ros2 msg list + ros2 msg show std_msgs/String +===Demos=== +====talker-listener cpp==== + ''# terminal 1:'' + export AMENT_PREFIX_PATH=/usr + ros2 run demo_nodes_cpp talker + + ''# terminal 2:'' + export AMENT_PREFIX_PATH=/usr + ros2 run demo_nodes_cpp listener ==ROS2 on PC== ==ROS2 on PC== Line 47: Line 73: * ROS2 will get installed to '''/opt/ros/<name>''', <name> = ardent, bouncy. * ROS2 will get installed to '''/opt/ros/<name>''', <name> = ardent, bouncy. * Terminal setup: * Terminal setup: − source /opt/ros/bouncy/setup.bash+ ''source /opt/ros/bouncy/setup.bash'' or or − source /opt/ros/bouncy/local_setup.bash+ ''source /opt/ros/bouncy/local_setup.bash'' * Create a workspace * Create a workspace Line 74: Line 100: * [https://discourse.ros.org/t/suggestions-for-std-srvs/1079/16 STD-SRVS '''discussion'''] & [https://github.com/ros2/examples/issues/4 ROS2 examples(?)] * [https://discourse.ros.org/t/suggestions-for-std-srvs/1079/16 STD-SRVS '''discussion'''] & [https://github.com/ros2/examples/issues/4 ROS2 examples(?)] * [https://discourse.ros.org/search?q=meta-ros%20order%3Alatest About meta-ros] * [https://discourse.ros.org/search?q=meta-ros%20order%3Alatest About meta-ros] − −===Docker=== − docker pull osrf/ros2:bouncy-desktop − docker run -i -t osrf/ros2:bouncy-desktop − ...no network, no colcon, no ament... − −==ROS2 on Zynq== −Cross-compiled and installed in Yocto − −===Other links=== * [http://design.ros2.org/articles/ros_on_dds.html ROS on DDS] * [http://design.ros2.org/articles/ros_on_dds.html ROS on DDS] ... ... Line 94: Line 110: * [https://wiki.ros.org/Services Request-Response is done with '''service''']. Format [https://wiki.ros.org/srv srv] * [https://wiki.ros.org/Services Request-Response is done with '''service''']. Format [https://wiki.ros.org/srv srv] −===Build===+===Docker=== −* Add path to bblayers.conf+ docker pull osrf/ros2:bouncy-desktop −* Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb:+ docker run -i -t osrf/ros2:bouncy-desktop − packagegroup-ros2-world \+ ...no network, no colcon, no ament... − −'''Notes:''' −* - − −===Work=== −====Available packages==== −* SSH session: − root@elphel393:~# export AMENT_PREFIX_PATH=/usr − root@elphel393:~# ros2 pkg list − builtin_interfaces − demo_nodes_cpp − example_interfaces − geometry_msgs − rcl − rcl_interfaces − rclcpp − rclpy − rcutils − rmw − rmw_fastrtps_cpp − rosidl_cmake − rosidl_generator_c − rosidl_generator_cpp − rosidl_parser − rosidl_typesupport_interface − rosidl_typesupport_introspection_c − rosidl_typesupport_introspection_cpp − sensor_msgs − −====Test Talker and Listener==== −* SSH session 1: − root@elphel393:~# export AMENT_PREFIX_PATH=/usr − root@elphel393:~# ros2 run demo_nodes_cpp talker −* SSH session 2: − root@elphel393:~# export AMENT_PREFIX_PATH=/usr − root@elphel393:~# ros2 run demo_nodes_cpp listener − −'''Notes:''' −* It populates '''/usr/lib/python3.5/site-packages/''' so python scripts can be pretty much standalone −* If AMENT_PREFIX_PATH is not set (only for command line apps) then: − Traceback (most recent call last): − File "/usr/bin/ros2", line 11, in <module> − load_entry_point('ros2cli==0.4.0', 'console_scripts', 'ros2')() − File "/usr/lib/python3.5/site-packages/ros2cli/cli.py", line 64, in main − rc = extension.main(parser=parser, args=args) − File "/usr/lib/python3.5/site-packages/ros2run/command/run.py", line 59, in main − executable_name=args.executable_name) − File "/usr/lib/python3.5/site-packages/ros2run/api/__init__.py", line 30, in get_executable_path − paths = get_executable_paths(package_name=package_name) − File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 41, in get_executable_paths − prefix_path = get_prefix_path(package_name) − File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 34, in get_prefix_path − prefix_path = get_package_prefix(package_name) − File "/usr/lib/python3.5/site-packages/ament_index_python/packages.py", line 49, in get_package_prefix − content, package_prefix = get_resource('packages', package_name) − File "/usr/lib/python3.5/site-packages/ament_index_python/resources.py", line 37, in get_resource − for path in get_search_paths(): − File "/usr/lib/python3.5/site-packages/ament_index_python/search_paths.py", line 30, in get_search_paths − "Environment variable '{}' is not set or empty".format(AMENT_PREFIX_PATH_ENV_VAR)) − '''OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty''' − −==ROS2 on PC== −* [https://index.ros.org/doc/ros2/Linux-Install-Debians/ Linux-Install-Debians] − −'''Notes:''' −* '''apt install ros-bouncy-desktop''' available in 18.04, n/a in 16.04 −* '''apt install ros-ardent-desktop''' available in 16.04 ==ROS1== ==ROS1== − ===Build=== ===Build=== '''Won't build''' '''Won't build''' Oleg

ROS2

Fri, 12/07/2018 - 16:50

← Older revision Revision as of 23:50, 7 December 2018 (27 intermediate revisions by the same user not shown)Line 3: Line 3: ==Goals== ==Goals== +'''Notes:''' +* Controlling and initializing of multi-camera systems is already implemented using PHP API (autocampars.php), Python and lighttpd. +* Using ROS2 is intended to simplify/standardize the above. +* Using ROS2 is intended to make cameras compatible with other hardware supported by ROS1/2. + + Having ROS2 cross-compiled and installed on each camera: Having ROS2 cross-compiled and installed on each camera: * '''Initialize cameras in a pre-defined multi-camera system''' - sync and sequence critical init * '''Initialize cameras in a pre-defined multi-camera system''' - sync and sequence critical init Line 27: Line 33: * For Embedded Linux (but not Ubuntu Distro) use [https://github.com/bmwcarit/meta-ros.git meta-ros.git]. What about [https://github.com/erlerobot/meta-ros2 meta-ros2]? * For Embedded Linux (but not Ubuntu Distro) use [https://github.com/bmwcarit/meta-ros.git meta-ros.git]. What about [https://github.com/erlerobot/meta-ros2 meta-ros2]? '''TODO:''' Include [https://github.com/bmwcarit/meta-ros.git meta-ros.git] in [https://git.elphel.com/Elphel/elphel393 elphel393] build system. '''TODO:''' Include [https://github.com/bmwcarit/meta-ros.git meta-ros.git] in [https://git.elphel.com/Elphel/elphel393 elphel393] build system. +====Include meta-ros to elphel393==== +* Add path to bblayers.conf +* Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb: + packagegroup-ros2-world \ ===Workflow=== ===Workflow=== +'''Notes:''' +* ROS2 for python populates '''/usr/lib/python3.5/site-packages/''' so python scripts can live anywhere. +* For command line apps, like ''ros2 ...'', if AMENT_PREFIX_PATH is not set then: + '''OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty''' +* Useful examples (command line): + export AMENT_PREFIX_PATH=/usr + + ros2 pkg list + ros2 node list + ros2 srv list + ros2 srv show std_srvs/Trigger + ros2 msg list + ros2 msg show std_msgs/String +===Demos=== +====talker-listener cpp==== + ''# terminal 1:'' + export AMENT_PREFIX_PATH=/usr + ros2 run demo_nodes_cpp talker + + ''# terminal 2:'' + export AMENT_PREFIX_PATH=/usr + ros2 run demo_nodes_cpp listener ==ROS2 on PC== ==ROS2 on PC== Line 41: Line 73: * ROS2 will get installed to '''/opt/ros/<name>''', <name> = ardent, bouncy. * ROS2 will get installed to '''/opt/ros/<name>''', <name> = ardent, bouncy. * Terminal setup: * Terminal setup: − source /opt/ros/bouncy/setup.bash+ ''source /opt/ros/bouncy/setup.bash'' or or − source /opt/ros/bouncy/local_setup.bash+ ''source /opt/ros/bouncy/local_setup.bash'' * Create a workspace * Create a workspace Line 68: Line 100: * [https://discourse.ros.org/t/suggestions-for-std-srvs/1079/16 STD-SRVS '''discussion'''] & [https://github.com/ros2/examples/issues/4 ROS2 examples(?)] * [https://discourse.ros.org/t/suggestions-for-std-srvs/1079/16 STD-SRVS '''discussion'''] & [https://github.com/ros2/examples/issues/4 ROS2 examples(?)] * [https://discourse.ros.org/search?q=meta-ros%20order%3Alatest About meta-ros] * [https://discourse.ros.org/search?q=meta-ros%20order%3Alatest About meta-ros] − −===Docker=== − docker pull osrf/ros2:bouncy-desktop − docker run -i -t osrf/ros2:bouncy-desktop − ...no network, no colcon, no ament... − −==ROS2 on Zynq== −Cross-compiled and installed in Yocto − −===Other links=== * [http://design.ros2.org/articles/ros_on_dds.html ROS on DDS] * [http://design.ros2.org/articles/ros_on_dds.html ROS on DDS] ... ... Line 88: Line 110: * [https://wiki.ros.org/Services Request-Response is done with '''service''']. Format [https://wiki.ros.org/srv srv] * [https://wiki.ros.org/Services Request-Response is done with '''service''']. Format [https://wiki.ros.org/srv srv] −===Build===+===Docker=== −* Add path to bblayers.conf+ docker pull osrf/ros2:bouncy-desktop −* Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb:+ docker run -i -t osrf/ros2:bouncy-desktop − packagegroup-ros2-world \+ ...no network, no colcon, no ament... − −'''Notes:''' −* - − −===Work=== − −====Available packages==== −* SSH session: − root@elphel393:~# export AMENT_PREFIX_PATH=/usr − root@elphel393:~# ros2 pkg list − builtin_interfaces − demo_nodes_cpp − example_interfaces − geometry_msgs − rcl − rcl_interfaces − rclcpp − rclpy − rcutils − rmw − rmw_fastrtps_cpp − rosidl_cmake − rosidl_generator_c − rosidl_generator_cpp − rosidl_parser − rosidl_typesupport_interface − rosidl_typesupport_introspection_c − rosidl_typesupport_introspection_cpp − sensor_msgs − −====Test Talker and Listener==== −* SSH session 1: − root@elphel393:~# export AMENT_PREFIX_PATH=/usr − root@elphel393:~# ros2 run demo_nodes_cpp talker −* SSH session 2: − root@elphel393:~# export AMENT_PREFIX_PATH=/usr − root@elphel393:~# ros2 run demo_nodes_cpp listener − −'''Notes:''' −* It populates '''/usr/lib/python3.5/site-packages/''' so python scripts can be pretty much standalone −* If AMENT_PREFIX_PATH is not set (only for command line apps) then: − Traceback (most recent call last): − File "/usr/bin/ros2", line 11, in <module> − load_entry_point('ros2cli==0.4.0', 'console_scripts', 'ros2')() − File "/usr/lib/python3.5/site-packages/ros2cli/cli.py", line 64, in main − rc = extension.main(parser=parser, args=args) − File "/usr/lib/python3.5/site-packages/ros2run/command/run.py", line 59, in main − executable_name=args.executable_name) − File "/usr/lib/python3.5/site-packages/ros2run/api/__init__.py", line 30, in get_executable_path − paths = get_executable_paths(package_name=package_name) − File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 41, in get_executable_paths − prefix_path = get_prefix_path(package_name) − File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 34, in get_prefix_path − prefix_path = get_package_prefix(package_name) − File "/usr/lib/python3.5/site-packages/ament_index_python/packages.py", line 49, in get_package_prefix − content, package_prefix = get_resource('packages', package_name) − File "/usr/lib/python3.5/site-packages/ament_index_python/resources.py", line 37, in get_resource − for path in get_search_paths(): − File "/usr/lib/python3.5/site-packages/ament_index_python/search_paths.py", line 30, in get_search_paths − "Environment variable '{}' is not set or empty".format(AMENT_PREFIX_PATH_ENV_VAR)) − '''OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty''' − −==ROS2 on PC== −* [https://index.ros.org/doc/ros2/Linux-Install-Debians/ Linux-Install-Debians] −'''Notes:''' −* '''apt install ros-bouncy-desktop''' available in 18.04, n/a in 16.04 −* '''apt install ros-ardent-desktop''' available in 16.04 ==ROS1== ==ROS1== − ===Build=== ===Build=== '''Won't build''' '''Won't build''' Oleg

ROS2

Fri, 12/07/2018 - 16:50

Show changes Oleg

ROS2

Fri, 12/07/2018 - 16:45

‎Workflow

Show changes Oleg

ROS2

Fri, 12/07/2018 - 15:41

‎Interfaces

← Older revision Revision as of 22:41, 7 December 2018 (20 intermediate revisions by the same user not shown)Line 1: Line 1: −==GitHub==+==About== −https://github.com/bmwcarit/meta-ros.git+Use ROS2 in Elphel single or multi-camera systems. The cameras are 10393 system boards based on Xilinx Zynq, ARM. −https://github.com/erlerobot/meta-ros2 ?+==Goals== +Having ROS2 cross-compiled and installed on each camera: +* '''Initialize cameras in a pre-defined multi-camera system''' - sync and sequence critical init +* '''Control multiple cameras from any camera of the system''' - parameters, recording +* '''Control multiple cameras from a PC''' (with ROS2 for PC installed). +* '''Control multiple cameras from a network device''' (w/o ROS2 installed, but with a browser) - by accessing a web server running on a camera interfaced with ROS2 of the camera. Can use nodejs or just lighttpd+php. +==Status== +Development −==ROS2 General Notes==+==Interfaces== −===Notes===+ROS2 nodes communicate over: −* SROS is Secure ROS or something+* '''1 GigE LAN''' or (possibly) '''wifi''' (camera1-camera2..N, pc-camera1..N, pc1-pc2..M) −===Useful links===+* within a single device −* [http://docs.erlerobotics.com/robot_operating_system/ros2/tutorials/tutorial_10 Tutorials ErleRobotics]+'''Notes:''' −* [https://github.com/intel/ros2_intel_realsense Intel RealSense]+* image sensors, IMS (or GPS & IMU), any other sensors are attached to cameras via a custom interface or USB, with appropriate driver support. −* [https://index.ros.org/doc/ros2/Ament-Tutorial/ Ament tutorial] - will not work for PC because it's outdated, will work in Yocto+* normally cameras in the system are synced with a custom trigger cable - this is setup over network −* [https://index.ros.org/doc/ros2/Colcon-Tutorial/ Colcon tutorial] - this one worked for PC+* any device attached to PC? −* [https://discourse.ros.org/t/suggestions-for-std-srvs/1079/16 STD-SRVS '''discussion'''] & [https://github.com/ros2/examples/issues/4 ROS2 examples(?)]+ −* [https://discourse.ros.org/search?q=meta-ros%20order%3Alatest About meta-ros]+ +==ROS2 on Zynq== + +===Installation=== +* For Embedded Linux (but not Ubuntu Distro) use [https://github.com/bmwcarit/meta-ros.git meta-ros.git]. What about [https://github.com/erlerobot/meta-ros2 meta-ros2]? +'''TODO:''' Include [https://github.com/bmwcarit/meta-ros.git meta-ros.git] in [https://git.elphel.com/Elphel/elphel393 elphel393] build system. + +===Workflow=== + + +==ROS2 on PC== +===Installation=== +* Google and follow the [https://index.ros.org/doc/ros2/ general instructions]. +'''Notes:''' +* '''apt install ros-bouncy-desktop''' available in 18.04, n/a in 16.04 +* '''apt install ros-ardent-desktop''' available in 16.04 −===PC workflow===+===Workflow=== −* Install ROS2 - will get installed to '''/opt/ros/<name>'''+* ROS2 will get installed to '''/opt/ros/<name>''', <name> = ardent, bouncy. * Terminal setup: * Terminal setup: source /opt/ros/bouncy/setup.bash source /opt/ros/bouncy/setup.bash Line 36: Line 58: * [https://erlerobotics.gitbooks.io/erle-robotics-python-gitbook-free/udp_and_tcp/a_simple_tcp_client_and_server.html Good book about UDP?] * [https://erlerobotics.gitbooks.io/erle-robotics-python-gitbook-free/udp_and_tcp/a_simple_tcp_client_and_server.html Good book about UDP?] −===Embedded workflow===+==ROS2 General Notes== −* Use meta-ros in yocto+===Notes=== −* Go for ROS2 recipes. Use as examples.+* SROS is Secure ROS or something −* The build system in Yocto is '''ament''' - which is one generation older then '''colcon'''+===Useful links=== −* Here there's no workspace - packages do get installed somewhere+* [http://docs.erlerobotics.com/robot_operating_system/ros2/tutorials/tutorial_10 Tutorials ErleRobotics] −* Need to +* [https://github.com/intel/ros2_intel_realsense Intel RealSense] − export AMENT_PREFIX_PATH=/usr+* [https://index.ros.org/doc/ros2/Ament-Tutorial/ Ament tutorial] - will not work for PC because it's outdated, will work in Yocto −* Python scripts can live anywhere - because ROS2 populates /usr/lib/...+* [https://index.ros.org/doc/ros2/Colcon-Tutorial/ Colcon tutorial] - this one worked for PC −* Service formats are too few - for a simple "Request string - Response string" server need to add new srv.+* [https://discourse.ros.org/t/suggestions-for-std-srvs/1079/16 STD-SRVS '''discussion'''] & [https://github.com/ros2/examples/issues/4 ROS2 examples(?)] +* [https://discourse.ros.org/search?q=meta-ros%20order%3Alatest About meta-ros] ===Docker=== ===Docker=== Oleg

ROS2

Fri, 12/07/2018 - 14:33

‎Communication interfaces

← Older revision Revision as of 21:33, 7 December 2018 (3 intermediate revisions by the same user not shown)Line 1: Line 1: +==About== +Use ROS2 in Elphel single or multi-camera systems. The cameras are 10393 system boards based on Xilinx Zynq, ARM. + +==Goals== +Having ROS2 cross-compiled and installed on each camera: +* '''Initialize cameras in a pre-defined multi-camera system''' - sync and sequence critical init +* '''Control multiple cameras from any camera of the system''' - parameters, recording +* '''Control multiple cameras from a PC''' (with ROS2 for PC installed). +* '''Control multiple cameras from a network device''' (w/o ROS2 installed, but with a browser) - by accessing a web server running on a camera interfaced with ROS2 of the camera. Can use nodejs or just lighttpd+php. + +==Communication interfaces== +ROS2 nodes communicate over: +* '''1 GigE LAN''' or (possibly) '''wifi''' (camera1-camera2,pc-camera,pc1-pc2) +* within a single device +Notes: +* image sensors, IMS (or GPS & IMU), any other sensors are attached to cameras via a custom interface or USB, with appropriate driver support. +* normally cameras in the system are synced with a custom trigger cable - this is setup over network +* any device attached to PC? + ==GitHub== ==GitHub== https://github.com/bmwcarit/meta-ros.git https://github.com/bmwcarit/meta-ros.git Oleg

Meta-ros testing

Fri, 12/07/2018 - 13:44

Oleg moved page Meta-ros testing to ROS2 better name

Oleg

Meta-ros testing

Fri, 12/07/2018 - 12:14

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Meta-ros testing

Thu, 12/06/2018 - 23:50

‎Useful links

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Meta-ros testing

Thu, 12/06/2018 - 22:46

‎ROS2 General Notes

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Meta-ros testing

Thu, 12/06/2018 - 18:59

‎ROS2 General Notes

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Meta-ros testing

Thu, 12/06/2018 - 18:51

‎Docker

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Meta-ros testing

Thu, 12/06/2018 - 11:06

‎Other links

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Meta-ros testing

Wed, 12/05/2018 - 18:06

‎ROS2

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Meta-ros testing

Tue, 12/04/2018 - 19:02

‎GitHub

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Meta-ros testing

Tue, 12/04/2018 - 17:39

‎ROS1

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Meta-ros testing

Tue, 12/04/2018 - 15:38

‎ROS1

← Older revision Revision as of 22:38, 4 December 2018 (19 intermediate revisions by the same user not shown)Line 1: Line 1: −==GitHub==+==GitHub== https://github.com/bmwcarit/meta-ros.git https://github.com/bmwcarit/meta-ros.git +==ROS2== −==ROS1==+===Build=== −* Won't build − −==ROS2== * Add path to bblayers.conf * Add path to bblayers.conf * Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb: * Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb: Line 13: Line 11: ros2msg \ ros2msg \ ros2run \ ros2run \ + +'''Notes:''' +* Is this a required minimum? +* '''ROS_USE_PYTHON3 = "yes"''' no effect? It already uses python3? +===Work=== +====1. Test Talker and Listener==== +* SSH session 1: + root@elphel393:~# export AMENT_PREFIX_PATH=/usr + root@elphel393:~# ros2 run demo_nodes_cpp talker +* SSH session 2: + root@elphel393:~# export AMENT_PREFIX_PATH=/usr + root@elphel393:~# ros2 run demo_nodes_cpp listener + +'''Notes:''' +* If AMENT_PREFIX_PATH is not set then: + Traceback (most recent call last): + File "/usr/bin/ros2", line 11, in <module> + load_entry_point('ros2cli==0.4.0', 'console_scripts', 'ros2')() + File "/usr/lib/python3.5/site-packages/ros2cli/cli.py", line 64, in main + rc = extension.main(parser=parser, args=args) + File "/usr/lib/python3.5/site-packages/ros2run/command/run.py", line 59, in main + executable_name=args.executable_name) + File "/usr/lib/python3.5/site-packages/ros2run/api/__init__.py", line 30, in get_executable_path + paths = get_executable_paths(package_name=package_name) + File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 41, in get_executable_paths + prefix_path = get_prefix_path(package_name) + File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 34, in get_prefix_path + prefix_path = get_package_prefix(package_name) + File "/usr/lib/python3.5/site-packages/ament_index_python/packages.py", line 49, in get_package_prefix + content, package_prefix = get_resource('packages', package_name) + File "/usr/lib/python3.5/site-packages/ament_index_python/resources.py", line 37, in get_resource + for path in get_search_paths(): + File "/usr/lib/python3.5/site-packages/ament_index_python/search_paths.py", line 30, in get_search_paths + "Environment variable '{}' is not set or empty".format(AMENT_PREFIX_PATH_ENV_VAR)) + '''OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty''' + +====2. Available packages==== +* SSH session: + root@elphel393:~# export AMENT_PREFIX_PATH=/usr + root@elphel393:~# ros2 pkg list + builtin_interfaces + demo_nodes_cpp + example_interfaces + geometry_msgs + rcl + rcl_interfaces + rclcpp + rclpy + rcutils + rmw + rmw_fastrtps_cpp + rosidl_cmake + rosidl_generator_c + rosidl_generator_cpp + rosidl_parser + rosidl_typesupport_interface + rosidl_typesupport_introspection_c + rosidl_typesupport_introspection_cpp + sensor_msgs + +==ROS1== + +===Build=== +'''Won't build''' + Build Configuration: + BB_VERSION = "1.37.0" + BUILD_SYS = "x86_64-linux" + NATIVELSBSTRING = "universal" + TARGET_SYS = "arm-poky-linux-gnueabi" + MACHINE = "elphel393" + DISTRO = "poky" + DISTRO_VERSION = "2.4+snapshot-20181204" + TUNE_FEATURES = "arm armv7a vfp neon cortexa9" + TARGET_FPU = "softfp" + meta + meta-poky + meta-yocto-bsp = "HEAD:72867393fe2004ab9f0ee23eb09a975c82938b9e" + meta-ezynq = "rocko:046de13c06cc248b725cb7b9928f35d4a369b50f" + meta-elphel393 = "rocko:0cea9b9b8776f0fe725316f1be1501396c95feb4" + meta-ros = "HEAD:72068b17e4192b51e09c8dc633805a35edac8701" + meta-xilinx-bsp = "HEAD:a18947c20dba2c0c38db8bde1ad4684995df4bbd" + meta-oe + meta-python + meta-networking + meta-webserver = "HEAD:34aa4c3202b427f59f843dc43a4e1afda4f81d13" + +* Error 1: +** ROS_USE_PYTHON3 = "yes" +** IMAGE_INSTALL += "roslaunch" + + NOTE: Resolving any missing task queue dependencies + ERROR: Nothing RPROVIDES 'python3-pycrypto' (but /home/oleg/GIT/elphel393_rocko_clean_install/meta/meta-ros/recipes-devtools/python/python3-paramiko_1.16.0.bb RDEPENDS on or otherwise requires it) + NOTE: Runtime target 'python3-pycrypto' is unbuildable, removing... + Missing or unbuildable dependency chain was: ['python3-pycrypto'] + NOTE: Runtime target 'python3-paramiko' is unbuildable, removing... + Missing or unbuildable dependency chain was: ['python3-paramiko', 'python3-pycrypto'] + NOTE: Runtime target 'roslaunch' is unbuildable, removing... + Missing or unbuildable dependency chain was: ['roslaunch', 'python3-paramiko', 'python3-pycrypto'] + ERROR: Required build target 'core-image-elphel393' has no buildable providers. + Missing or unbuildable dependency chain was: ['core-image-elphel393', 'roslaunch', 'python3-paramiko', 'python3-pycrypto'] + +* Successful build: +** IMAGE_INSTALL += "roslaunch" + + NOTE: Resolving any missing task queue dependencies + ERROR: Nothing RPROVIDES 'python3-pycrypto' (but /home/oleg/GIT/elphel393_rocko_clean_install/meta/meta-ros/recipes-devtools/python/python3-paramiko_1.16.0.bb RDEPENDS on or otherwise requires it) + NOTE: Runtime target 'python3-pycrypto' is unbuildable, removing... + Missing or unbuildable dependency chain was: ['python3-pycrypto'] + NOTE: Runtime target 'python3-paramiko' is unbuildable, removing... + Missing or unbuildable dependency chain was: ['python3-paramiko', 'python3-pycrypto'] + NOTE: Runtime target 'roslaunch' is unbuildable, removing... + Missing or unbuildable dependency chain was: ['roslaunch', 'python3-paramiko', 'python3-pycrypto'] + ERROR: Required build target 'core-image-elphel393' has no buildable providers. + Missing or unbuildable dependency chain was: ['core-image-elphel393', 'roslaunch', 'python3-paramiko', 'python3-pycrypto'] + + +* Error 2: +** Seems like '''rostopic''' causes: + ERROR: python-imaging-1.1.7-r5 do_package_qa: QA Issue: python-imaging: The compile log indicates that host include and/or library paths were used. + Please check the log '/home/oleg/GIT/elphel393_rocko_clean_install/poky/build/tmp/work/cortexa9-neon-poky-linux-gnueabi/python-imaging/1.1.7-r5/temp/log.do_compile' for more information. [compile- host-path] + ERROR: python-imaging-1.1.7-r5 do_package_qa: QA run found fatal errors. Please consider fixing them. + ERROR: python-imaging-1.1.7-r5 do_package_qa: Function failed: do_package_qa + ERROR: Logfile of failure stored in: /home/oleg/GIT/elphel393_rocko_clean_install/poky/build/tmp/work/cortexa9-neon-poky-linux-gnueabi/python-imaging/1.1.7-r5/temp/log.do_package_qa.19425 + ERROR: Task (/home/oleg/GIT/elphel393_rocko_clean_install/meta/meta-openembedded/meta-python/recipes-devtools/python/python-imaging_1.1.7.bb:do_package_qa) failed with exit code '1' + + potential links: + https://github.com/intel-aero/meta-intel-aero/issues/81 + https://github.com/bmwcarit/meta-ros/issues/395 + + +===Work=== +* Won't work Oleg

Meta-ros testing

Tue, 12/04/2018 - 14:40

← Older revision Revision as of 21:40, 4 December 2018 (16 intermediate revisions by the same user not shown)Line 1: Line 1: −==GitHub==+==GitHub== https://github.com/bmwcarit/meta-ros.git https://github.com/bmwcarit/meta-ros.git +==ROS2== −==ROS1==+===Build=== −* Won't build − −==ROS2== * Add path to bblayers.conf * Add path to bblayers.conf * Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb: * Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb: Line 13: Line 11: ros2msg \ ros2msg \ ros2run \ ros2run \ + +'''Notes:''' +* Is this a required minimum? +* '''ROS_USE_PYTHON3 = "yes"''' no effect? It already uses python3? +===Work=== +====1. Test Talker and Listener==== +* SSH session 1: + root@elphel393:~# export AMENT_PREFIX_PATH=/usr + root@elphel393:~# ros2 run demo_nodes_cpp talker +* SSH session 2: + root@elphel393:~# export AMENT_PREFIX_PATH=/usr + root@elphel393:~# ros2 run demo_nodes_cpp listener + +'''Notes:''' +* If AMENT_PREFIX_PATH is not set then: + Traceback (most recent call last): + File "/usr/bin/ros2", line 11, in <module> + load_entry_point('ros2cli==0.4.0', 'console_scripts', 'ros2')() + File "/usr/lib/python3.5/site-packages/ros2cli/cli.py", line 64, in main + rc = extension.main(parser=parser, args=args) + File "/usr/lib/python3.5/site-packages/ros2run/command/run.py", line 59, in main + executable_name=args.executable_name) + File "/usr/lib/python3.5/site-packages/ros2run/api/__init__.py", line 30, in get_executable_path + paths = get_executable_paths(package_name=package_name) + File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 41, in get_executable_paths + prefix_path = get_prefix_path(package_name) + File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 34, in get_prefix_path + prefix_path = get_package_prefix(package_name) + File "/usr/lib/python3.5/site-packages/ament_index_python/packages.py", line 49, in get_package_prefix + content, package_prefix = get_resource('packages', package_name) + File "/usr/lib/python3.5/site-packages/ament_index_python/resources.py", line 37, in get_resource + for path in get_search_paths(): + File "/usr/lib/python3.5/site-packages/ament_index_python/search_paths.py", line 30, in get_search_paths + "Environment variable '{}' is not set or empty".format(AMENT_PREFIX_PATH_ENV_VAR)) + '''OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty''' + +====2. Available packages==== +* SSH session: + root@elphel393:~# export AMENT_PREFIX_PATH=/usr + root@elphel393:~# ros2 pkg list + builtin_interfaces + demo_nodes_cpp + example_interfaces + geometry_msgs + rcl + rcl_interfaces + rclcpp + rclpy + rcutils + rmw + rmw_fastrtps_cpp + rosidl_cmake + rosidl_generator_c + rosidl_generator_cpp + rosidl_parser + rosidl_typesupport_interface + rosidl_typesupport_introspection_c + rosidl_typesupport_introspection_cpp + sensor_msgs + +==ROS1== + +===Build=== +'''Won't build''' + Build Configuration: + BB_VERSION = "1.37.0" + BUILD_SYS = "x86_64-linux" + NATIVELSBSTRING = "universal" + TARGET_SYS = "arm-poky-linux-gnueabi" + MACHINE = "elphel393" + DISTRO = "poky" + DISTRO_VERSION = "2.4+snapshot-20181204" + TUNE_FEATURES = "arm armv7a vfp neon cortexa9" + TARGET_FPU = "softfp" + meta + meta-poky + meta-yocto-bsp = "HEAD:72867393fe2004ab9f0ee23eb09a975c82938b9e" + meta-ezynq = "rocko:046de13c06cc248b725cb7b9928f35d4a369b50f" + meta-elphel393 = "rocko:0cea9b9b8776f0fe725316f1be1501396c95feb4" + meta-ros = "HEAD:72068b17e4192b51e09c8dc633805a35edac8701" + meta-xilinx-bsp = "HEAD:a18947c20dba2c0c38db8bde1ad4684995df4bbd" + meta-oe + meta-python + meta-networking + meta-webserver = "HEAD:34aa4c3202b427f59f843dc43a4e1afda4f81d13" + +* Error 1: +** ROS_USE_PYTHON3 = "yes" +** IMAGE_INSTALL += "roslaunch" + + NOTE: Resolving any missing task queue dependencies + ERROR: Nothing RPROVIDES 'python3-pycrypto' (but /home/oleg/GIT/elphel393_rocko_clean_install/meta/meta-ros/recipes-devtools/python/python3-paramiko_1.16.0.bb RDEPENDS on or otherwise requires it) + NOTE: Runtime target 'python3-pycrypto' is unbuildable, removing... + Missing or unbuildable dependency chain was: ['python3-pycrypto'] + NOTE: Runtime target 'python3-paramiko' is unbuildable, removing... + Missing or unbuildable dependency chain was: ['python3-paramiko', 'python3-pycrypto'] + NOTE: Runtime target 'roslaunch' is unbuildable, removing... + Missing or unbuildable dependency chain was: ['roslaunch', 'python3-paramiko', 'python3-pycrypto'] + ERROR: Required build target 'core-image-elphel393' has no buildable providers. + Missing or unbuildable dependency chain was: ['core-image-elphel393', 'roslaunch', 'python3-paramiko', 'python3-pycrypto'] + +* Successful build: +** IMAGE_INSTALL += "roslaunch" + + NOTE: Resolving any missing task queue dependencies + ERROR: Nothing RPROVIDES 'python3-pycrypto' (but /home/oleg/GIT/elphel393_rocko_clean_install/meta/meta-ros/recipes-devtools/python/python3-paramiko_1.16.0.bb RDEPENDS on or otherwise requires it) + NOTE: Runtime target 'python3-pycrypto' is unbuildable, removing... + Missing or unbuildable dependency chain was: ['python3-pycrypto'] + NOTE: Runtime target 'python3-paramiko' is unbuildable, removing... + Missing or unbuildable dependency chain was: ['python3-paramiko', 'python3-pycrypto'] + NOTE: Runtime target 'roslaunch' is unbuildable, removing... + Missing or unbuildable dependency chain was: ['roslaunch', 'python3-paramiko', 'python3-pycrypto'] + ERROR: Required build target 'core-image-elphel393' has no buildable providers. + Missing or unbuildable dependency chain was: ['core-image-elphel393', 'roslaunch', 'python3-paramiko', 'python3-pycrypto'] + +===Work=== +* Won't work Oleg

Meta-ros testing

Tue, 12/04/2018 - 14:05

‎ROS2

← Older revision Revision as of 21:05, 4 December 2018 (11 intermediate revisions by the same user not shown)Line 1: Line 1: −==GitHub==+==GitHub== https://github.com/bmwcarit/meta-ros.git https://github.com/bmwcarit/meta-ros.git +==ROS1== −==ROS1==+===Build=== * Won't build * Won't build +===Work=== +* Won't work −==ROS2==+==ROS2== + +===Build=== * Add path to bblayers.conf * Add path to bblayers.conf * Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb: * Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb: Line 13: Line 18: ros2msg \ ros2msg \ ros2run \ ros2run \ + +'''Notes:''' +* Is this a required minimum? +* '''ROS_USE_PYTHON3 = "yes"''' results in errors? +===Work=== +====1. Test Talker and Listener==== +* SSH session 1: + root@elphel393:~# export AMENT_PREFIX_PATH=/usr + root@elphel393:~# ros2 run demo_nodes_cpp talker +* SSH session 2: + root@elphel393:~# export AMENT_PREFIX_PATH=/usr + root@elphel393:~# ros2 run demo_nodes_cpp listener + +'''Notes:''' +* If AMENT_PREFIX_PATH is not set then: + Traceback (most recent call last): + File "/usr/bin/ros2", line 11, in <module> + load_entry_point('ros2cli==0.4.0', 'console_scripts', 'ros2')() + File "/usr/lib/python3.5/site-packages/ros2cli/cli.py", line 64, in main + rc = extension.main(parser=parser, args=args) + File "/usr/lib/python3.5/site-packages/ros2run/command/run.py", line 59, in main + executable_name=args.executable_name) + File "/usr/lib/python3.5/site-packages/ros2run/api/__init__.py", line 30, in get_executable_path + paths = get_executable_paths(package_name=package_name) + File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 41, in get_executable_paths + prefix_path = get_prefix_path(package_name) + File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 34, in get_prefix_path + prefix_path = get_package_prefix(package_name) + File "/usr/lib/python3.5/site-packages/ament_index_python/packages.py", line 49, in get_package_prefix + content, package_prefix = get_resource('packages', package_name) + File "/usr/lib/python3.5/site-packages/ament_index_python/resources.py", line 37, in get_resource + for path in get_search_paths(): + File "/usr/lib/python3.5/site-packages/ament_index_python/search_paths.py", line 30, in get_search_paths + "Environment variable '{}' is not set or empty".format(AMENT_PREFIX_PATH_ENV_VAR)) + '''OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty''' + +====2. Available packages==== +* SSH session: + root@elphel393:~# export AMENT_PREFIX_PATH=/usr + root@elphel393:~# ros2 pkg list + builtin_interfaces + demo_nodes_cpp + example_interfaces + geometry_msgs + rcl + rcl_interfaces + rclcpp + rclpy + rcutils + rmw + rmw_fastrtps_cpp + rosidl_cmake + rosidl_generator_c + rosidl_generator_cpp + rosidl_parser + rosidl_typesupport_interface + rosidl_typesupport_introspection_c + rosidl_typesupport_introspection_cpp + sensor_msgs + Oleg

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