OS: Ubtuntu 16.04
Target: Ubuntu armhf 18.04
ROS-DISTRIB = ROS2 Crystal
I am looking to cross-compile a minimalistic ros2 built intended for embedded, but the current cross-compilation tutorial imports and builds the whole ros2 source repository.
Some visualization packages are already disabled.
touch \
ros2_ws/src/ros2/rviz/COLCON_IGNORE \
ros2_ws/src/ros-visualization/COLCON_IGNORE
- Where can I find the different
packages used for ros-base (barebone)
? Including self-contained libraries
as I'm building from source with the
option
-DFORCE_BUILD_VENDOR_PKG=ON
- And how bare-bone can I get while
keeping the main functionalities of
ROS2 ? Regarding this question, this
answer
was given some time ago but when
doing so, I encountered a
ERROR 404:
urllib.error.HTTPError: HTTP Error 404: Not Found (https://raw.githubusercontent.com/ros2/rosdistro/ros2/index.yaml)
EDIT
- Second point resolved (see comment below)
- I tried to list the sources needed for a lightweight ROS. It might be missing some important dependency:
[EDIT 2]
from @gvdhoorn comment:
REP 2001: ROS Bouncy and Newer Variants gives the different dependencies for ros2.
Then create the ros2_core.repos with
rosinstall_generator ros_core --rosdistro crystal --deps > ros_core.repos
Use vsc for importing the source:
vcs-import src < ros2.repos
Originally posted by William Bulle on ROS Answers with karma: 40 on 2019-03-26
Post score: 2
Original comments
Comment by gvdhoorn on 2019-03-26:\
Regarding this question, this answer was given some time ago but when doing so, I encountered a
ERROR 404
the ROS 1 and ROS 2 rosdistro dbs were merged some time ago, so you don't need to configure an alternative ROSDISTRO_INDEX_URL any more.
Comment by gvdhoorn on 2019-03-27:
You may want to take a look at REP 2001: ROS Bouncy and Newer Variants which documents the sets of pkgs that are considered the ROS variants.
Those are not necessarily minimal, but should provide a little more insight into which pkgs could go together in a deployment.
Are you using rosinstall_generator already, or doing everything by hand?
Comment by William Bulle on 2019-03-27:
@gvdhoorn Thank you for the link. That's what I looking for.
I just used rosinstall_generator for print out the dependencies of the minimal examples and I listed them by hand. Would the ros1 tutorial part when using rosinstall genreator would be up to date for ros 2 as the ros2 build from source tutorial didn't include the use of rosinstall_generator ?
Comment by gvdhoorn on 2019-03-27:\
Would the ros1 tutorial part when using rosinstall genreator would be up to date for ros 2 as the ros2 build from source tutorial didn't include the use of rosinstall_generator ?
It should. As far as rosinstall_generator is concerned there is no difference between Kinetic or Crystal. It's all just packages in the distribution.yaml of the respective release.
Comment by marguedas on 2019-03-27:
@william-bulle As you would like to build using -DFORCE_BUILD_VENDOR_PKG=ON, and that this option is only available on master as of a couple days ago (and not part of any release or crystal development branch), the version of the packages you will get using rosinstall_generator will not have this CMake option.
In ROS 2 the tool used for cloning is python3-vcstool, so the equivalent to the ROS1 tutorial would be something like:
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
rosinstall_generator ros_core --rosdistro crystal --deps --tar > crystal-ros_core.rosinstall
vcs import src < crystal-ros_core.rosinstall
Though last time I tried (for bouncy, it may have changed since) there were some missing packages due to some dependencies being injected later on in the release process. That may be the reason the installation pages don't use rosinstall_generator yet.
Comment by William Bulle on 2019-03-27:
@marguedas: to use the -DFORCE_BUILD_VENDOR_PKG=ON I git update the vendors' repos to the master branch.
I came to the same answer as you. I'll need to check if nothing is missing and try to build.
Comment by marguedas on 2019-03-27:
Follow up of:
for bouncy, it may have changed since) there were some missing packages
This seems to still be the case. I used this fix to get the missing packages: https://github.com/ros-infrastructure/rosinstall_generator/pull/54
Comment by William Bulle on 2019-03-29:
@marguedas :
I encountered some build issues that might come from the discrepancy of the source as ros2.depos are set to ros2 or foreign repos as it follows ros2.depos:
eProsima/Fast-RTPS:
type: git
url: https://github.com/eProsima/Fast-RTPS.git
version: b48ce9d2fba6fc94e756da01c58b72f2ad848238
ros2/poco_vendor:
type: git
url: https://github.com/ros2/poco_vendor.git
version: 1.1.1
custom ros_core.install :
local-name: poco_vendor
uri: https://github.com/ros2-gbp/poco_vendor-release.git
version: release/crystal/poco_vendor/1.1.1-0
local-name: fastrtps
uri: https://github.com/ros2-gbp/fastrtps-release.git
version: release/crystal/fastrtps/1.7.2-0
I can edit by hand the uri to the correct branch/repos but I'm looking a way to specify for getting the sources from ros2 repos using rosinstall generator ? Maybe related to this issue
Comment by gvdhoorn on 2019-03-29:
@William Bulle: ros2.repos specs source repositories, while rosinstall_generator will always give you release repositories.
As long as the ROS 2 release team has followed a normal release workflow, the release repositories should contain the same artefacts as the source repositories, just "frozen" at a certain version (ie: the released version).
Editing the .rosinstall file to point to source repositories should not be needed.
Comment by marguedas on 2019-03-29:
@William Bulle I did my build using the release repositories using the following command: rosinstall_generator ros_core --rosdistro crystal --deps > ros_core.install
Once I used the fixed version of rosinstall generator (0.1.16), I had all the repositories needed to perform the build.
Note that I am building natively on amd64 and not cross-compiling. The Dockerfile I'm using is here
that might come from the discrepancy of the source as ros2.depos are set to ros2 or foreign repos as it follows ros2.depos
The release repos have the exact code used to build the crystal debs. I usually use those as they are ensured to have a package.xml allowing rosdep to install all the dependencies. If you use the rosinstall_generator options to get the source repos (--upstream(-devel) flags) you may not have the same version of the code for third party packages and no package.xml that will lead to dependency issues