TipsAndTricks/Creating Recipes for ROS modules - Revision history

Henry Bruce: /* Recipetool Integration */

2017-06-15T23:20:07Z

Recipetool Integration

← Older revision		Revision as of 23:20, 15 June 2017
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	# Detect ROS module by checking for package.xml in root of source with tag <tt>buildtool_depend</tt> set to <tt>catkin</tt>		# Detect ROS module by checking for package.xml in root of source with tag <tt>buildtool_depend</tt> set to <tt>catkin</tt>
	# Create basis of recipe in similar way to cmake (execluding <tt>inherit cmake</tt>		# Create basis of recipe in similar way to cmake (execluding <tt>inherit cmake</tt>
	# Follow mapping in table		# Follow mapping in [[TipsAndTricks/Creating_Recipes_for_ROS_modules#Getting_meta-data_from_package.xml\|package.xml mapping table]]
	Start with [http://git.yoctoproject.org/cgit/cgit.cgi/poky/tree/scripts/lib/recipetool/create_buildsys.py existing recipetool code], get smart with python3 and good luck!		Start with [http://git.yoctoproject.org/cgit/cgit.cgi/poky/tree/scripts/lib/recipetool/create_buildsys.py existing recipetool code], get smart with python3 and good luck!

Henry Bruce: /* Recipe */

2017-06-15T23:18:23Z

Recipe

← Older revision		Revision as of 23:18, 15 June 2017
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	== Understanding Existing ROS Recipes ==		== Understanding Existing ROS Recipes ==
	=== Recipe ===		=== Recipe Structure ===
	Let's look at a an existing meta-ros recipe [https://github.com/bmwcarit/meta-ros/blob/master/recipes-ros/zeroconf-msgs/zeroconf-msgs_0.2.1.bb zeroconf-msgs] to see how they support catkin.		Let's look at a an existing meta-ros recipe [https://github.com/bmwcarit/meta-ros/blob/master/recipes-ros/zeroconf-msgs/zeroconf-msgs_0.2.1.bb zeroconf-msgs] to see how they support catkin.
	<pre>		<pre>

Henry Bruce: /* Putting it all together */

2017-06-15T23:16:39Z

Putting it all together

← Older revision		Revision as of 23:16, 15 June 2017
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	And map it to recipe directives		And map it to recipe directives
	{\|		{\|
	~~\|'''Recipe entry'''\|\|'''Value'''~~
	\|-		\|-
	\|PV\|\|0.1.0		\|PV\|\|0.1.0
Line 169:		Line 168:
	\|inherit\|\|catkin		\|inherit\|\|catkin
	\|-		\|-
	\|DEPENDS\|\|roscpp ~~geometry_msgs sensor_msgs~~ tf		\|DEPENDS\|\|roscpp geometry-msgs sensor-msgs tf
	\|-		\|-
	~~\|RDEPENDS\|\|~~
	\|}		\|}
	Now let's update the recipe the devtool created with these values		Now let's update the recipe the devtool created with these values
Line 191:		Line 189:
	inherit catkin		inherit catkin
	</pre>		</pre>
			Now let's build it.
			$ devtool build vectornav
			Success !

			== Recipetool Integration ==
			As "devtool add" failed to create a functional recipe but the above steps follow a set process, there is scope for extending recipetool to support ROS modules.
			# Detect ROS module by checking for package.xml in root of source with tag <tt>buildtool_depend</tt> set to <tt>catkin</tt>
			# Create basis of recipe in similar way to cmake (execluding <tt>inherit cmake</tt>
			# Follow mapping in table
			Start with [http://git.yoctoproject.org/cgit/cgit.cgi/poky/tree/scripts/lib/recipetool/create_buildsys.py existing recipetool code], get smart with python3 and good luck!

Henry Bruce: /* Getting meta-data from package.xml */

2017-06-15T23:03:38Z

Getting meta-data from package.xml

← Older revision		Revision as of 23:03, 15 June 2017
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	\|'''package.xml Tag'''\|\|'''Recipe directive'''\|\|'''Comment'''		\|'''package.xml Tag'''\|\|'''Recipe directive'''\|\|'''Comment'''
	\|-		\|-
	\|name\|\|PN\|\|~~devtool got this right~~		\|name\|\|PN\|\|This is defined by recipe filename
	\|-		\|-
	\|version\|\|PV\|\|~~devtool missed this~~		\|version\|\|PV\|\|Usually defined by recipe filename
	\|-		\|-
	\|description\|\|SUMMARY\|\|~~devtool missed this.~~ This should map to SUMMARY, not DESCRIPTION which adds detail		\|description\|\|SUMMARY\|\|This should map to SUMMARY, not DESCRIPTION which adds detail
	\|-		\|-
	\|license\|\|LICENSE\|\|~~devtool got this right~~		\|license\|\|LICENSE\|\|Use package.xml for LIC_FILES_CHKSUM
	\|-		\|-
	\|url\|\|HOMEPAGE\|\|type="website". Seems to be an optional tag		\|url\|\|HOMEPAGE\|\|type="website". Seems to be an optional tag
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	\|buildtool_depend\|\|inherit\|\|Will always be catkin(?), which inherits cmake		\|buildtool_depend\|\|inherit\|\|Will always be catkin(?), which inherits cmake
	\|-		\|-
	\|build_depend\|\|DEPENDS\|\|devtool ~~missed this~~		\|build_depend\|\|DEPENDS\|\|1. Append to any values created by devtool
			2. If ROS module name contains an underscore, convert to a dash
	\|-		\|-
	\|runs_depend\|\|RDEPENDS_{PN}\|\|This should only contain entries that are not already in build_depend		\|runs_depend\|\|RDEPENDS_{PN}\|\|This should only contain entries that are not already in build_depend

Henry Bruce: /* Updating The vectornav Recipe */

2017-06-15T22:58:08Z

Updating The vectornav Recipe

@@ Line 119: / Line 119: @@
 |}
-== Updating The vectornav Recipe ==
+== Putting it all together  ==
 So let's take a look at the package.xml for our module
 <pre>
@@ Line 172: / Line 172: @@
 |RDEPENDS||
 |}
-Now let's update rhe recipe the devtool created with these values
+Now let's update the recipe the devtool created with these values

Henry Bruce: /* = Recipe */

2017-06-15T22:55:00Z

= Recipe

← Older revision		Revision as of 22:55, 15 June 2017
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	== Understanding Existing ROS Recipes ==		== Understanding Existing ROS Recipes ==
	==== Recipe ===		=== Recipe ===
	Let's look at a an existing meta-ros recipe [https://github.com/bmwcarit/meta-ros/blob/master/recipes-ros/zeroconf-msgs/zeroconf-msgs_0.2.1.bb zeroconf-msgs] to see how they support catkin.		Let's look at a an existing meta-ros recipe [https://github.com/bmwcarit/meta-ros/blob/master/recipes-ros/zeroconf-msgs/zeroconf-msgs_0.2.1.bb zeroconf-msgs] to see how they support catkin.
	<pre>		<pre>

Henry Bruce: /* Understanding Existing ROS Recipes */

2017-06-15T22:54:32Z

Understanding Existing ROS Recipes

← Older revision		Revision as of 22:54, 15 June 2017
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	== Understanding Existing ROS Recipes ==		== Understanding Existing ROS Recipes ==
			==== Recipe ===
	Let's look at a an existing meta-ros recipe [https://github.com/bmwcarit/meta-ros/blob/master/recipes-ros/zeroconf-msgs/zeroconf-msgs_0.2.1.bb zeroconf-msgs] to see how they support catkin.		Let's look at a an existing meta-ros recipe [https://github.com/bmwcarit/meta-ros/blob/master/recipes-ros/zeroconf-msgs/zeroconf-msgs_0.2.1.bb zeroconf-msgs] to see how they support catkin.
	<pre>		<pre>
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	inherit catkin		inherit catkin
	</pre>		</pre>
	~~The first~~ things to note is that ~~LIC_FILES_CHKSUM refers to~~ package.xml~~, a key catkin file~~. ~~This includes~~ the ~~licence and ROS dependencies, let~~'s take a look at it		A few things to note
			* The directive <tt>inherit catkin</tt> includes bitbake logic and it's a reasonable guess that this does all the catkin stuff just as <tt>inherit cmake</tt> enables cmake.
			* As package.xml if referred to by <tt>LIC_FILES_CHKSUM</tt> must include some licence info. Let's dig into this.
			* How are the DEPENDS defined? Let's dig into this as well.

			=== Getting meta-data from package.xml ===
			Let's take a look at it
	<pre>		<pre>
	<package>		<package>

Henry Bruce: /* Starting with "devtool add" */

2017-06-15T22:43:57Z

Starting with "devtool add"

← Older revision		Revision as of 22:43, 15 June 2017
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	\| CMake did not find one.		\| CMake did not find one.
	</pre>		</pre>
	Assuming you've worked with ROS, you'll know that it builds with a cmake based tool called [http://wiki.ros.org/catkin catkin]. This is usually installed as a developer package so some Yocto work will need to be done to build the builder. This seems like a tough task, so let's see how other ROS modules have done this.		Assuming you've worked with ROS, you'll know that it builds with a cmake based tool called [http://wiki.ros.org/catkin catkin]. This is usually installed as a developer package so some Yocto work will need to be done to "build the builder". This seems like a tough task, so let's see how other ROS modules have done this.

	== Understanding Existing ROS Recipes ==		== Understanding Existing ROS Recipes ==

Henry Bruce: /* Understanding Existing ROS Recipes */

2017-06-15T20:52:42Z

Understanding Existing ROS Recipes

← Older revision		Revision as of 20:52, 15 June 2017
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	== Understanding Existing ROS Recipes ==		== Understanding Existing ROS Recipes ==
	~~The build failed because ROS uses a cmake based built tool called catkin and recipetool (the tool invoked by 'devtool add') couldn't figure this out.~~ Let's look at a an existing meta-ros recipe [https://github.com/bmwcarit/meta-ros/blob/master/recipes-ros/zeroconf-msgs/zeroconf-msgs_0.2.1.bb zeroconf-msgs] to see how they ~~figure this out~~.		Let's look at a an existing meta-ros recipe [https://github.com/bmwcarit/meta-ros/blob/master/recipes-ros/zeroconf-msgs/zeroconf-msgs_0.2.1.bb zeroconf-msgs] to see how they support catkin.
	<pre>		<pre>
	DESCRIPTION = "General ros communications used by the various zeroconf implementations."		DESCRIPTION = "General ros communications used by the various zeroconf implementations."

Henry Bruce: /* Starting with "devtool add" */

2017-06-15T20:51:27Z

Starting with "devtool add"

← Older revision		Revision as of 20:51, 15 June 2017
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	Standard practice for a creating a recipe is use devtool add. The github project doesn't have any releases, so let's use the git repo.		Standard practice for a creating a recipe is use devtool add. The github project doesn't have any releases, so let's use the git repo.
	$ devtool add https://github.com/dawonn/vectornav		$ devtool add https://github.com/dawonn/vectornav
	This completes OK, let's ~~takr quick~~ look at the recipe.		This completes OK, let's take a look at the recipe.
	$ devtool edit-~~recpe~~ vectornav		$ devtool edit-recipe vectornav
	<pre>		<pre>
	# Recipe created by recipetool		# Recipe created by recipetool
Line 31:		Line 31:
	EXTRA_OECMAKE = ""		EXTRA_OECMAKE = ""
	</pre>		</pre>
	~~It seems~~ to ~~have correctly detected a cmake project~~. ~~Let's try and built it~~		Note the comment
			# NOTE: unable to map the following CMake package dependencies: catkin
			And sure enough, the build fails as the comment predicted.
	<pre>		<pre>
	$ devtool build vectornav		$ devtool build vectornav
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	\| CMake did not find one.		\| CMake did not find one.
	</pre>		</pre>
	~~Looks like we have~~ some work to do.		Assuming you've worked with ROS, you'll know that it builds with a cmake based tool called [http://wiki.ros.org/catkin catkin]. This is usually installed as a developer package so some Yocto work will need to be done to build the builder. This seems like a tough task, so let's see how other ROS modules have done this.

	== Understanding Existing ROS Recipes ==		== Understanding Existing ROS Recipes ==