GSoC Weekly Update: Week 2
Week 2 :
Build master/x86: meta-ros + agl-image-minimal
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Kindly go through build process of AGL and building for x86 for detailed reference to setup and initialize AGL workspace.
## After setting up AGL workspace # Clone the meta-ros layer $ 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 build-x86-meta-ros-minimal agl-devel $ 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" IMAGE_INSTALL_append = " packagegroup-ros-world-foxy" ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_remove = "plotjuggler" ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_remove = "plotjuggler-msgs" ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_remove = "plotjuggler-ros" ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_remove = "eigenpy" ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_remove = "py-trees-ros-tutorials" $ vim conf/bblayers.conf #Replace the following chunk # bblayers.conf AGL_META_NETWORKING ?= "" AGL_META_PYTHON = "${METADIR}/external/meta-openembedded/meta-python" AGL_META_ROS = " \ ${METADIR}/external/meta-ros/meta-ros-common \ ${METADIR}/external/meta-ros/meta-ros-backports-gatesgarth \ ${METADIR}/external/meta-ros/meta-ros2 \ ${METADIR}/external/meta-ros/meta-ros2-foxy \ " AGL_OTHER_DEPENDENCY_LAYERS = " \ ${AGL_META_NETWORKING} \ ${AGL_META_PYTHON} \ ${AGL_META_ROS} \ " # Build the image $ cd $AGL_TOP/master/build-x86-meta-ros-minimal/ $ source agl-init-build-env #if not sourced $ bitbake -p ros-core #build ros-core first, to check all layers are added. $ time bitbake agl-image-minimal #wait for the build process to finish. -
The typical build process looks like :
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In initialization of AGL workspace, a documentation discrepancy was noted for which $AGL_TOP must be replaced with <AGL_TOP> and $HOME must be replaced with with complete path, because once bitbake is configured bash defined global variable won’t exist. Corresponding Change Requests were submitted for retification of the documentation error :
Run master/x86: meta-ros + agl-image-minimal
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Kindly use pre-built image agl-image-minimal-qemux86-64, if you want to skip the building process.
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Kindly go through using prebuilt x86 images for detailed reference to setup and initialize AGL workspace.
## gdrive : https://drive.google.com/drive/folders/1oypRNaYh1-vQgsarS5w83_-huQl8Rw49?usp=sharing # Install the dependencies $ apt-get install qemu $ sudo apt install vinagre $ sudo apt install qemu-system-x86 # Copy image and kernel files $ cp ~/Downloads/agl-image-minimal-qemux86-64.ext4 ./ $ cp ~/Downloads/bzImage ./ $ sync # Run $ ( sleep 5 && vinagre --vnc-scale localhost ) > /tmp/vinagre.log 2>&1 & qemu-system-x86_64 -device virtio-net-pci,netdev=net0,mac=52:54:00:12:35:02 -netdev user,id=net0,hostfwd=tcp::2222-:22 \ -drive file=agl-image-minimal-qemux86-64.ext4,if=virtio,format=raw -show-cursor -usb -usbdevice tablet -device virtio-rng-pci \ -snapshot -vga virtio \ -vnc :0 -soundhw hda -machine q35 -cpu kvm64 -cpu qemu64,+ssse3,+sse4.1,+sse4.2,+popcnt -enable-kvm \ -m 2048 -serial mon:vc -serial mon:stdio -serial null -kernel bzImage \ -append 'root=/dev/vda rw console=tty0 mem=2048M ip=dhcp oprofile.timer=1 console=ttyS0,115200n8 verbose fstab=no' # boots up Automotive Grade Linux 11.91.0+snapshot qemux86-64 ttyS1 qemux86-64 login: root root@qemux86-64:~# source /usr/bin/ros_setup.sh #source ros environment root@qemux86-64:~# echo $LD_LIBRARY_PATH #check if ros environment is sourced root@qemux86-64:~# poweroff #else, runs in background
Build master/raspberrypi4: meta-ros + agl-image-minimal
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Kindly go through build process of AGL and building for raspberrypi4 for detailed reference to setup and initialize AGL workspace.
# After setting up AGL workspace # 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 -f -m raspberrypi4 -b build-rpi4-meta-ros-minimal agl-devel $ 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" IMAGE_INSTALL_append = " packagegroup-ros-world-foxy" ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_remove = "plotjuggler" ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_remove = "plotjuggler-msgs" ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_remove = "plotjuggler-ros" ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_remove = "eigenpy" ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES_remove = "py-trees-ros-tutorials" $ vim conf/bblayers.conf #Replace the following chunk # bblayers.conf AGL_META_NETWORKING ?= "" AGL_META_PYTHON = "${METADIR}/external/meta-openembedded/meta-python" AGL_META_ROS = " \ ${METADIR}/external/meta-ros/meta-ros-common \ ${METADIR}/external/meta-ros/meta-ros-backports-gatesgarth \ ${METADIR}/external/meta-ros/meta-ros2 \ ${METADIR}/external/meta-ros/meta-ros2-foxy \ " AGL_OTHER_DEPENDENCY_LAYERS = " \ ${AGL_META_NETWORKING} \ ${AGL_META_PYTHON} \ ${AGL_META_ROS} \ " # Build the image $ cd $AGL_TOP/master/build-rpi4-meta-ros-minimal/ $ source agl-init-build-env #if not sourced $ bitbake -p ros-core #build ros-core first, to check all layers are added. $ time bitbake agl-image-minimal #wait for the build process to finish. Build Configuration: BB_VERSION = "1.46.0" BUILD_SYS = "x86_64-linux" NATIVELSBSTRING = "debian" TARGET_SYS = "aarch64-agl-linux" MACHINE = "raspberrypi4-64" DISTRO = "poky-agl" DISTRO_VERSION = "11.91.0+snapshot-20210602" TUNE_FEATURES = "aarch64" TARGET_FPU = "" DISTRO_NAME = "Automotive Grade Linux" ROS_DISTRO = "foxy" ROS_VERSION = "2" ROS_PYTHON_VERSION = "3" meta-raspberrypi = "HEAD:77190af02d48adc2b28216775e6318e9eeda571c" meta-python = "dunfell:11eae114522a6befa06c7f4021a83bc016133543" meta-ros-common meta-ros-backports-gatesgarth meta-ros2 meta-ros2-foxy = "dunfell:7b0e0f7e5101d300ff9d75b06d7c4371376fad00" meta-oe = "dunfell:11eae114522a6befa06c7f4021a83bc016133543" meta-agl-core meta-agl-core-test meta-agl-bsp = "HEAD:109051d8049fde31ca9421d6d590fef51131c01b" meta meta-poky = "HEAD:8f7d34d135e167f8949a9c44c00fd066408cb120" Initialising tasks: 100% | #########################################################| Time: 0:00:11 Sstate summary: Wanted 1793 Found 459 Missed 1334 Current 0 (25% match, 0% complete) NOTE: Executing Tasks NOTE: Tasks Summary: Attempted 4443 tasks of which 1398 didn't need to be rerun and all succeeded. NOTE: Writing buildhistory NOTE: Writing buildhistory took: 432 seconds Summary: There was 1 WARNING message shown. real 128m31.869s user 0m12.180s sys 0m1.954s
Run master/raspberrypi4: meta-ros + agl-image-minimal
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Kindly use pre-built image agl-image-minimal-raspberrypi4-64, if you want to skip the building process.
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Kindly go through using prebuilt raspberrypi4 images for detailed reference to setup and initialize AGL workspace.
## gdrive : https://drive.google.com/drive/folders/1PQfvwBNjYpe7csRfl5oTzcskPDfQy80g?usp=sharing # Copy image and extract into SD card $ cp ~/Downloads/agl-image-minimal-raspberrypi4-64.wic.xz ./ $ lsblk #find <SD_CARD> $ sudo umount <SD_CARD> $ xzcat agl-image-minimal-raspberrypi4-64.wic.xz | sudo dd of=<SD_CARD> bs=4M $ sync # Boot up Pi and Run login: root ~# top #view current processes ~# source /usr/bin/ros_setup.sh #source ros environment ~# echo $LD_LIBRARY_PATH #check if ros environment is sourced -
Raspberry pi 4 boots up as :
