Week 10 :

Updating agl-ros2-ydlidar feature to add SDK support

• Update agl-ros2-ydlidar feature template with qt5-toolchain packagegroup (packagegroup-qt5-toolchain-target).

  # Change into AGL feature directory
  $ cd $AGL_TOP/master/meta-agl/templates/feature/agl-ros2-ydlidar/
  
  # Edit CONF file
  $ vim 50_local.conf.inc
  
    #meta-ros2-ydlidar                
  
    IMAGE_INSTALL_append = " packagegroup-agl-ros2-ydlidar"
    IMAGE_INSTALL_append = " packagegroup-agl-appfw-native-qt5"
    IMAGE_INSTALL_append = " packagegroup-qt5-toolchain-target"
  

Build SDK for master/x86: meta-ros + agl-image-weston + YDLIDAR + qt support using updated agl-ros2-ydlidar feature

• Kindly go through setting up AGL SDK for detailed reference to setup and initialize AGL SDK.

  # Clone the meta-ros layer, skip if already cloned
  $ cd $AGL_TOP/master/external
  $ git clone https://github.com/ros/meta-ros.git
  $ cd meta-ros
  $ git checkout -b dunfell
  
  # Setup build directory
  $ cd $AGL_TOP/master/
  $ source meta-agl/scripts/aglsetup.sh -b new-build-x86-meta-ros-weston-agl-ros2-ydlidar-qt agl-demo agl-devel agl-ros2-ydlidar
  $ ln -sf $AGL_TOP/site.conf conf/
  $ ls -alh conf/
  
  # Edit the following conf files :
  
  $ vim conf/local.conf #add the following to the bottom, to save error logs for future debugging
  # local.conf
    INHERIT += "buildhistory"
    BUILDHISTORY_COMMIT = "1"
  
  # Build the image
  
  $ cd $AGL_TOP/master/new-build-x86-meta-ros-weston-agl-ros2-ydlidar-qt/
  $ source agl-init-build-env #if not sourced
  $ bitbake -p ros-core #build ros-core first, to check all layers are added.
  $ time bitbake -c populate_sdk agl-image-weston #wait for the build process to finish.
  

Setup SDK for master/x86 on dev system: meta-ros + agl-image-weston + YDLIDAR + qt support using updated agl-ros2-ydlidar feature

• Download poky-agl-glibc-agl-image-weston-qemux86-64-toolchain prebuilt sdk x86_64 to help quickstart the service and application development process.

  # agl sdk x86-64 : https://drive.google.com/drive/folders/13EGSqkBFMEpQWZJY7eMPjbvyt40Pwqtr?usp=sharing
  
  # Create application developmment directory and copy SDK into them
  $ mkdir ~/Documents/agl-app
  $ cp ~/Downloads/poky-agl-glibc-x86_64-agl-image-weston-corei7-64-qemux86-64-toolchain-11.91.0+snapshot.sh ~/Documents/agl-app/
  $ cd ~/Documents/agl-app
  
  # Install the downloaded SDK
  $ chmod +x poky-agl-glibc-x86_64-agl-image-weston-corei7-64-qemux86-64-toolchain-11.91.0+snapshot.sh 
  $ mkdir agl-sdk-custom-image/
  $ ./poky-agl-glibc-x86_64-agl-image-weston-corei7-64-qemux86-64-toolchain-11.91.0+snapshot.sh 
    # Select target directory for SDK : ~/Documents/agl-app/agl-sdk-custom-image/
        
    Automotive Grade Linux SDK installer version 11.91.0+snapshot
    =============================================================
    Enter target directory for SDK (default: /opt/agl-sdk/11.91.0+snapshot-corei7-64): ~/Documents/agl-app/agl-sdk-custom-image
    You are about to install the SDK to "/home/boron/Documents/agl-app/agl-sdk-custom-image". Proceed [Y/n]? Y
    Extracting SDK......................................................................................................................done
    Setting it up...done
    SDK has been successfully set up and is ready to be used.
    Each time you wish to use the SDK in a new shell session, you need to source the environment setup script e.g.
    $ . /home/boron/Documents/agl-app/agl-sdk-custom-image/environment-setup-corei7-64-agl-linux
  
  # Source the SDK environment setup, each time you wish to use the SDK in a new shell session
  $ source ~/Documents/agl-app/agl-sdk-custom-image/environment-setup-corei7-64-agl-linux
  

Gerrit change request for the work done

• agl-ros2 : Enables building of meta-ros2-foxy layer with additional support for YDLIDAR drivers.

• Change Request #26559 : Added support for ros2 in AGL and ydlidar driver support by creation of recipes for ydlidar driver and sdk and packagegroup-agl-ros2-minimal & packagegroup-agl-ros2-ydlidar. Concurrently, created a feature template to allow for BBLAYERS and local conf dependencies.

  meta-agl-devel
  │
  ├── meta-agl-devel.md #documentation
  ├── meta-agl-ros2
  │   ├── conf
  │   │   └── layer.conf
  │   ├── recipes-platform
  │   │   └── packagegroups
  │   │       ├── packagegroup-agl-ros2-minimal.bb #minimal set of packages required to ROS2
  │   │       └── packagegroup-agl-ros2-ydlidar.bb #support of ydlidar with ROS2
  │   └── recipes-ros2
  │       ├── ydlidar-ros2-driver
  │       │   └── ydlidar-ros2-driver_1.0.1.bb #YDLIDAR driver recipe for ROS2 support
  │       └── ydlidar-ros2-sdk
  │           └── ydlidar-ros2-sdk_1.4.7.bb #dependency for ydlidar_ros2_driver.
  └── templates
      └── feature
          └── agl-ros2
             ├── 50_bblayers.conf.inc #layer dependencies for meta-ros2
             ├── 50_local.conf.inc #contains config for IMAGE_INSTALL_append
             └── README_feature_agl-ros2.md #documentation