Week 6 :

Add support for YDLIDAR core dependencies layer

  • Edit and update superflore-ros-distro.inc, ros-distro.inc and layer.conf in meta-ros2-foxy layer.

    # Change into recipe directory

$ cd $AGL_TOP/master/external/meta-ros/meta-ros2-foxy/conf/
$ tree
  ├── layer.conf [x]
  └── ros-distro
      └── include
          └── foxy
              ├── generated
              │   ├── superflore-datetime.inc
              │   └── superflore-ros-distro.inc [x]
              ├── ros-distro.inc [x]
              ├── ros-distro-preferred-providers.inc
              ├── ros-distro-preferred-versions.inc
              ├── ros-distro-recipe-blacklist.inc
              └── ros-distro-recipe-blacklist-logs
                  ├── lanelet2-traffic-rules.do_configure
                  ├── mrpt2.do_compile
                  ├── qt-gui-cpp.do_compile
                  └── warehouse-ros-mongo.do_configure
## the files marked [x] will be either modified or updated.

# Update superflore-ros-distro.inc

## https://drive.google.com/file/d/19Dj7P-yCp6Xqaa9h9k2BqdgHUtD-dwe3/view?usp=sharing
$ touch ros-distro/include/foxy/generated/superflore-ros-distro-core-ydlidar.inc
$ vim ros-distro/include/foxy/generated/superflore-ros-distro-core-ydlidar.inc

  # Edited to contain core dependencies required for ydlidar

  # foxy/generated/superflore-ros-distro-core-ydlidar.inc
  # Generated by superflore -- DO NOT EDIT (except ROS_DISTRO_METADATA_VERSION_REVISION)
  #
  # Copyright Open Source Robotics Foundation

  # Increment every time meta-ros is released because of a manually created change, ie, NOT as a result of a superflore run (which
  # resets it to "0").
  ROS_DISTRO_METADATA_VERSION_REVISION = "0"

  ROS_SUPERFLORE_PROGRAM_VERSION = "0.3.2+19.g4105ad8"
  ROS_SUPERFLORE_GENERATION_SCHEME = "2"

  ROS_DISTRO_TYPE = "ros2"
  ROS_VERSION = "2"
  # DO NOT OVERRIDE ROS_PYTHON_VERSION
  ROS_PYTHON_VERSION = "3"

  ROS_SUPERFLORE_GENERATION_SKIP_LIST = ""

  # Superflore was unable to generate recipes for these packages, eg, because their repositories are not on GitHub.
  ROS_SUPERFLORE_GENERATION_NOT_POSSIBLE = " \
      tracetools \
  "

  # Number of commits that will be returned by "git log meta-ros2-foxy/files/foxy/generated/cache.yaml" when the
  # generated files are committed. This is used for the fourth version field of DISTRO_VERSION.
  ROS_NUM_CACHE_YAML_COMMITS = "28"

  # Iterated values of ROS_DISTRO-cache.distribution_file.release_platforms.<LINUX-DISTRO>.[ <NAME> ... ] .
  ROS_DISTRO_RELEASE_PLATFORMS = " \
      ubuntu-focal \
  "

  ROS_SUPERFLORE_GENERATED_RECIPES = " \
      action-msgs \
      ament-cmake \
      ament-index-cpp \
      ament-index-python \
      ament-package \
      builtin-interfaces \
      class-loader \
      composition-interfaces \
      console-bridge-vendor \
      fastrtps \
      foonathan-memory-vendor \
      geometry-msgs \
      launch \
      launch-ros \
      libstatistics-collector \
      libyaml-vendor \
      lifecycle-msgs \
      message-filters \
      osrf-pycommon \
      rcl \
      rcl-action \
      rcl-interfaces \
      rcl-logging-spdlog \
      rcl-yaml-param-parser \
      rclcpp \
      rclcpp-action \
      rclcpp-components \
      rclpy \
      rcpputils \
      rcutils \
      rmw \
      rmw-dds-common \
      rmw-fastrtps-cpp \
      rmw-fastrtps-shared-cpp \
      rmw-implementation \
      rmw-implementation-cmake \
      ros-workspace \
      ros2cli \
      ros2pkg \
      ros2topic \
      rosgraph-msgs \
      rosidl-adapter \
      rosidl-cmake \
      rosidl-default-runtime \
      rosidl-generator-c \
      rosidl-generator-py \
      rosidl-parser \
      rosidl-runtime-c \
      rosidl-runtime-cpp \
      rosidl-runtime-py \
      rosidl-typesupport-c \
      rosidl-typesupport-cpp \
      rosidl-typesupport-fastrtps-c \
      rosidl-typesupport-fastrtps-cpp \
      rosidl-typesupport-interface \
      rosidl-typesupport-introspection-c \
      rosidl-typesupport-introspection-cpp \
      ydlidar-ros2-driver \
      rpyutils \
      sensor-msgs \
      spdlog-vendor \
      statistics-msgs \
      std-msgs \
      std-srvs \
      tf2 \
      tf2-msgs \
      tf2-py \
      tf2-ros \
      unique-identifier-msgs \
      visualization-msgs \
  "

  ROS_SUPERFLORE_GENERATED_RECIPE_BASENAMES_WITH_COMPONENT = " \
                      rcl-interfaces/action-msgs_1.0.0-1 \
                          ament-index/ament-index-cpp_1.0.2-1 \
                          ament-index/ament-index-python_1.0.2-1 \
                      rcl-interfaces/builtin-interfaces_1.0.0-1 \
                        class-loader/class-loader_2.0.2-1 \
                      rcl-interfaces/composition-interfaces_1.0.0-1 \
                console-bridge-vendor/console-bridge-vendor_1.2.4-1 \
                            fastrtps/fastrtps_2.0.2-2 \
              foonathan-memory-vendor/foonathan-memory-vendor_1.0.0-1 \
                    common-interfaces/geometry-msgs_2.0.4-1 \
              libstatistics-collector/libstatistics-collector_1.0.1-1 \
                      libyaml-vendor/libyaml-vendor_1.0.4-1 \
                      message-filters/message-filters_3.2.5-1 \
                        osrf-pycommon/osrf-pycommon_0.1.10-1 \
                                  rcl/rcl-action_1.1.11-1 \
                      rcl-interfaces/rcl-interfaces_1.0.0-1 \
                          rcl-logging/rcl-logging-spdlog_1.1.0-1 \
                                  rcl/rcl-yaml-param-parser_1.1.11-1 \
                              rclcpp/rclcpp_2.3.1-1 \
                              rclcpp/rclcpp-action_2.3.1-1 \
                              rclcpp/rclcpp-components_2.3.1-1 \
                                rclpy/rclpy_1.0.5-1 \
                            rcpputils/rcpputils_1.3.1-1 \
                              rcutils/rcutils_1.1.3-1 \
                                  rmw/rmw_1.0.3-1 \
                      rmw-dds-common/rmw-dds-common_1.0.3-1 \
                        rmw-fastrtps/rmw-fastrtps-cpp_1.2.5-1 \
                        rmw-fastrtps/rmw-fastrtps-shared-cpp_1.2.5-1 \
                  rmw-implementation/rmw-implementation_1.0.2-1 \
                                  rmw/rmw-implementation-cmake_1.0.3-1 \
                        ros-workspace/ros-workspace_1.0.1-1 \
                            ros2cli/ros2cli_0.9.9-1 \
                          launch-ros/ros2launch_0.11.2-1 \
                              ros2cli/ros2pkg_0.9.9-1 \
                              ros2cli/ros2topic_0.9.9-1 \
                      rcl-interfaces/rosgraph-msgs_1.0.0-1 \
                              rosidl/rosidl-adapter_1.2.1-1 \
                              rosidl/rosidl-cmake_1.2.1-1 \
                      rosidl-defaults/rosidl-default-runtime_1.0.1-1 \
                              rosidl/rosidl-generator-c_1.2.1-1 \
                        rosidl-python/rosidl-generator-py_0.9.4-1 \
                              rosidl/rosidl-parser_1.2.1-1 \
                              rosidl/rosidl-runtime-c_1.2.1-1 \
                              rosidl/rosidl-runtime-cpp_1.2.1-1 \
                    rosidl-runtime-py/rosidl-runtime-py_0.9.1-1 \
                  rosidl-typesupport/rosidl-typesupport-c_1.0.2-1 \
                  rosidl-typesupport/rosidl-typesupport-cpp_1.0.2-1 \
          rosidl-typesupport-fastrtps/rosidl-typesupport-fastrtps-c_1.0.3-1 \
          rosidl-typesupport-fastrtps/rosidl-typesupport-fastrtps-cpp_1.0.3-1 \
                              rosidl/rosidl-typesupport-interface_1.2.1-1 \
                              rosidl/rosidl-typesupport-introspection-c_1.2.1-1 \
                              rosidl/rosidl-typesupport-introspection-cpp_1.2.1-1 \
  \                ydlidar-ros2-driver/ydlidar-ros2-driver_1.0.1 \
          rpyutils/rpyutils_0.2.0-1 \
                      spdlog-vendor/spdlog-vendor_1.1.3-1 \
                      rcl-interfaces/statistics-msgs_1.0.0-1 \
                    common-interfaces/std-msgs_2.0.4-1 \
                    common-interfaces/std-srvs_2.0.4-1 \
                            geometry2/tf2_0.13.10-1 \
                            geometry2/tf2-msgs_0.13.10-1 \
                            geometry2/tf2-py_0.13.10-1 \
                            geometry2/tf2-ros_0.13.10-1 \
              unique-identifier-msgs/unique-identifier-msgs_2.1.3-1 \
                    common-interfaces/visualization-msgs_2.0.4-1 \
  "

  # What's built by packagegroup-ros-world. Does not include packages that appear solely in ROS_SUPERFLORE_GENERATED_BUILDTOOLS
  # (with a -native suffix) or ROS_SUPERFLORE_GENERATED_TESTS.
  ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES = " \
      action-msgs \
      ament-cmake \
      ament-index-cpp \
      ament-index-python \
      ament-package \
      builtin-interfaces \
      class-loader \
      composition-interfaces \
      console-bridge-vendor \
      fastrtps \
      foonathan-memory-vendor \
      geometry-msgs \
      launch \
      launch-ros \
      libstatistics-collector \
      libyaml-vendor \
      lifecycle-msgs \
      message-filters \
      osrf-pycommon \
      rcl \
      rcl-action \
      rcl-interfaces \
      rcl-logging-spdlog \
      rcl-yaml-param-parser \
      rclcpp \
      rclcpp-action \
      rclcpp-components \
      rclpy \
      rcpputils \
      rcutils \
      rmw \
      rmw-dds-common \
      rmw-fastrtps-cpp \
      rmw-fastrtps-shared-cpp \
      rmw-implementation \
      rmw-implementation-cmake \
      ros-workspace \
      ros2cli \
      ros2launch \
      ros2pkg \
      ros2topic \
      rosgraph-msgs \
      rosidl-adapter \
      rosidl-cmake \
      rosidl-default-runtime \
      rosidl-generator-c \
      rosidl-generator-py \
      rosidl-parser \
      rosidl-runtime-c \
      rosidl-runtime-cpp \
      rosidl-runtime-py \
      rosidl-typesupport-c \
      rosidl-typesupport-cpp \
      rosidl-typesupport-fastrtps-c \
      rosidl-typesupport-fastrtps-cpp \
      rosidl-typesupport-interface \
      rosidl-typesupport-introspection-c \
      rosidl-typesupport-introspection-cpp \
      ydlidar-ros2-driver \
      rpyutils \
      sensor-msgs \
      spdlog-vendor \
      statistics-msgs \
      std-msgs \
      std-srvs \
      tf2 \
      tf2-msgs \
      tf2-py \
      tf2-ros \
      unique-identifier-msgs \
      visualization-msgs \
  "

  # Packages found in the <buildtool_depend> and <buildtool_export_depend> items, ie, ones for which a -native is built. Does not
  # include those found in the ROS_EXEC_DEPENDS values in the recipes of build tools.
  ROS_SUPERFLORE_GENERATED_BUILDTOOLS_FOXY = " \
      ${ROS_UNRESOLVED_DEP-ament-python-native} \
      ${ROS_UNRESOLVED_DEP-java-native} \
      ${ROS_UNRESOLVED_DEP-maven-native} \
      ${ROS_UNRESOLVED_DEP-rti-connext-dds-5.3.1-native} \
      ament-clang-format-native \
      ament-clang-tidy-native \
      ament-cmake-auto-native \
      ament-cmake-core-native \
      ament-cmake-export-definitions-native \
      ament-cmake-export-dependencies-native \
      ament-cmake-export-include-directories-native \
      ament-cmake-export-interfaces-native \
      ament-cmake-export-libraries-native \
      ament-cmake-export-link-flags-native \
      ament-cmake-export-targets-native \
      ament-cmake-gmock-native \
      ament-cmake-google-benchmark-native \
      ament-cmake-gtest-native \
      ament-cmake-include-directories-native \
      ament-cmake-libraries-native \
      ament-cmake-native \
      ament-cmake-pytest-native \
      ament-cmake-python-native \
      ament-cmake-ros-native \
      ament-cmake-target-dependencies-native \
      ament-cmake-test-native \
      ament-cmake-version-native \
      ament-copyright-native \
      ament-cppcheck-native \
      ament-cpplint-native \
      ament-flake8-native \
      ament-index-python-native \
      ament-lint-cmake-native \
      ament-mypy-native \
      ament-package-native \
      ament-pclint-native \
      ament-pep257-native \
      ament-pycodestyle-native \
      ament-pyflakes-native \
      ament-uncrustify-native \
      ament-xmllint-native \
      builtin-interfaces-native \
      cmake-native \
      connext-cmake-module-native \
      eigen3-cmake-module-native \
      fastcdr-native \
      fastrtps-cmake-module-native \
      fastrtps-native \
      git-native \
      gmock-vendor-native \
      gtest-native \
      gtest-vendor-native \
      launch-testing-ament-cmake-native \
      launch-testing-native \
      lcov-native \
      mrt-cmake-modules-native \
      pkgconfig-native \
      python-cmake-module-native \
      python3-catkin-pkg-native \
      python3-empy-native \
      python3-native \
      python3-nose-native \
      python3-pytest-native \
      python3-pyyaml-native \
      python3-rospkg-native \
      python3-setuptools-native \
      qtbase-native \
      rcutils-native \
      rmw-implementation-cmake-native \
      ros-environment-native \
      ros2test-native \
      rosidl-cmake-native \
      rosidl-default-generators-native \
      rosidl-generator-c-native \
      rosidl-generator-cpp-native \
      rosidl-generator-dds-idl-native \
      rosidl-generator-py-native \
      rosidl-parser-native \
      rosidl-runtime-c-native \
      rosidl-runtime-cpp-native \
      rosidl-typesupport-c-native \
      rosidl-typesupport-connext-cpp-native \
      rosidl-typesupport-cpp-native \
      rosidl-typesupport-fastrtps-cpp-native \
      rosidl-typesupport-interface-native \
      rosidl-typesupport-introspection-c-native \
      rosidl-typesupport-introspection-cpp-native \
  "

  ROS_SUPERFLORE_GENERATED_BUILDTOOLS_append = " ${ROS_SUPERFLORE_GENERATED_BUILDTOOLS_FOXY}"

  ROS_SUPERFLORE_GENERATED_PLATFORM_PACKAGE_DEPENDENCIES = " \
      ${PYTHON_PN}-lxml \
      ${PYTHON_PN}-numpy \
      ${PYTHON_PN}-pyflakes \
      libtinyxml2 \
      python3-catkin-pkg \
      python3-catkin-pkg-native \
      python3-empy \
      python3-empy-native \
      python3-lark-parser \
      python3-mock \
      python3-netifaces \
      python3-nose \
      python3-nose-native \
      python3-nose-yanc \
      python3-numpy \
      python3-pep8 \
      python3-pyyaml \
      python3-pyyaml-native \
      python3-setuptools \
      python3-setuptools-native \
  "

  # Packages found only in <test_depend> items. Does not include those found only in the ROS_*_DEPENDS of recipes of tests.
  ROS_SUPERFLORE_GENERATED_TESTS = " \
      ${PYTHON_PN}-numpy \
      python3-nose \
      python3-nose-yanc \
      python3-pep8 \
  "

  ROS_SUPERFLORE_GENERATED_RECIPES_FOR_COMPONENTS = " \
      ament-cmake \
      ament-package \
      class-loader \
      console-bridge-vendor \
      fastrtps \
      foonathan-memory-vendor \
      launch \
      launch-ros \
      libstatistics-collector \
      libyaml-vendor \
      message-filters \
      osrf-pycommon \
      rcl \
      rcl-interfaces \
      rclcpp \
      rclpy \
      rcpputils \
      rcutils \
      rmw \
      rmw-dds-common \
      rmw-implementation \
      ros-workspace \
      ros2cli \
      rosidl-runtime-py \
      ydlidar-ros2-driver \
      rpyutils \
      spdlog-vendor \
      unique-identifier-msgs \
  "

  # Platform packages without a OE-RECIPE@OE-LAYER mapping in base.yaml, python.yaml, or ruby.yaml. Until they are added, override
  # the settings in ros-distro.inc .
  ROS_UNRESOLVED_DEP-ament-python-native = "ROS_UNRESOLVED_DEP-ament-python-native"
  ROS_UNRESOLVED_DEP-clang-format = "ROS_UNRESOLVED_DEP-clang-format"
  ROS_UNRESOLVED_DEP-clang-tidy = "ROS_UNRESOLVED_DEP-clang-tidy"
  ROS_UNRESOLVED_DEP-coinor-libcbc-dev = "ROS_UNRESOLVED_DEP-coinor-libcbc-dev"
  ROS_UNRESOLVED_DEP-coinor-libcgl-dev = "ROS_UNRESOLVED_DEP-coinor-libcgl-dev"
  ROS_UNRESOLVED_DEP-coinor-libclp-dev = "ROS_UNRESOLVED_DEP-coinor-libclp-dev"
  ROS_UNRESOLVED_DEP-coinor-libcoinutils-dev = "ROS_UNRESOLVED_DEP-coinor-libcoinutils-dev"
  ROS_UNRESOLVED_DEP-coinor-libipopt-dev = "ROS_UNRESOLVED_DEP-coinor-libipopt-dev"
  ROS_UNRESOLVED_DEP-cwiid = "ROS_UNRESOLVED_DEP-cwiid"
  ROS_UNRESOLVED_DEP-cwiid-dev = "ROS_UNRESOLVED_DEP-cwiid-dev"
  ROS_UNRESOLVED_DEP-gazebo11 = "ROS_UNRESOLVED_DEP-gazebo11"
  ROS_UNRESOLVED_DEP-gurumdds-2.7 = "ROS_UNRESOLVED_DEP-gurumdds-2.7"
  ROS_UNRESOLVED_DEP-ignition-gazebo3 = "ROS_UNRESOLVED_DEP-ignition-gazebo3"
  ROS_UNRESOLVED_DEP-ignition-math6 = "ROS_UNRESOLVED_DEP-ignition-math6"
  ROS_UNRESOLVED_DEP-ignition-msgs5 = "ROS_UNRESOLVED_DEP-ignition-msgs5"
  ROS_UNRESOLVED_DEP-ignition-transport8 = "ROS_UNRESOLVED_DEP-ignition-transport8"
  ROS_UNRESOLVED_DEP-java = "ROS_UNRESOLVED_DEP-java"
  ROS_UNRESOLVED_DEP-java-native = "ROS_UNRESOLVED_DEP-java-native"
  ROS_UNRESOLVED_DEP-libbluetooth = "ROS_UNRESOLVED_DEP-libbluetooth"
  ROS_UNRESOLVED_DEP-libbluetooth-dev = "ROS_UNRESOLVED_DEP-libbluetooth-dev"
  ROS_UNRESOLVED_DEP-libcunit-dev = "ROS_UNRESOLVED_DEP-libcunit-dev"
  ROS_UNRESOLVED_DEP-libgazebo11-dev = "ROS_UNRESOLVED_DEP-libgazebo11-dev"
  ROS_UNRESOLVED_DEP-libomp-dev = "ROS_UNRESOLVED_DEP-libomp-dev"
  ROS_UNRESOLVED_DEP-libqglviewer2-qt5 = "ROS_UNRESOLVED_DEP-libqglviewer2-qt5"
  ROS_UNRESOLVED_DEP-libspnav-dev = "ROS_UNRESOLVED_DEP-libspnav-dev"
  ROS_UNRESOLVED_DEP-maven-native = "ROS_UNRESOLVED_DEP-maven-native"
  ROS_UNRESOLVED_DEP-python3-collada = "ROS_UNRESOLVED_DEP-python3-collada"
  ROS_UNRESOLVED_DEP-python3-retrying = "ROS_UNRESOLVED_DEP-python3-retrying"
  ROS_UNRESOLVED_DEP-python3-watchdog = "ROS_UNRESOLVED_DEP-python3-watchdog"
  ROS_UNRESOLVED_DEP-python3-zmq = "ROS_UNRESOLVED_DEP-python3-zmq"
  ROS_UNRESOLVED_DEP-qttools5-dev-tools = "ROS_UNRESOLVED_DEP-qttools5-dev-tools"
  ROS_UNRESOLVED_DEP-rti-connext-dds-5.3.1 = "ROS_UNRESOLVED_DEP-rti-connext-dds-5.3.1"
  ROS_UNRESOLVED_DEP-rti-connext-dds-5.3.1-native = "ROS_UNRESOLVED_DEP-rti-connext-dds-5.3.1-native"
  ROS_UNRESOLVED_DEP-rviz = "ROS_UNRESOLVED_DEP-rviz"
  ROS_UNRESOLVED_DEP-spacenavd = "ROS_UNRESOLVED_DEP-spacenavd"
  ROS_UNRESOLVED_DEP-uncrustify = "ROS_UNRESOLVED_DEP-uncrustify"

  # From the release announcement or the last field of the "<ROS_DISTRO>/YYYY-MM-DD" tag for the release in
  # https://github.com/ros/rosdistro/tags. Prior to the first release of a ROS_DISTRO, it is set to "".
  ROS_DISTRO_RELEASE_DATE = "2021-04-26"

  # The commit of ros/rosdistro/foxy/distribution.yaml from which the recipes were generated.
  ROS_SUPERFLORE_GENERATION_COMMIT = "8916fda922fba94107bf01cee956168b19bba1dd"

  # Version of scripts/ros-generate-cache.sh which was used to generate cache from which the recipes and this configuration
  # file were last generated
  ROS_GENERATE_CACHE_PROGRAM_VERSION = "1.6.2"

  # Version of scripts/ros-generate-recipes.sh which was used to generate recipes and this configuration file
  ROS_GENERATE_RECIPES_PROGRAM_VERSION = "1.6.0"



# Update ros-distro.inc
  
## https://drive.google.com/file/d/1-XfYlw_1V5Yz2yjxOzxiwZg0xsaUkC6O/view?usp=sharing
$ touch ros-distro/include/foxy/ros-distro-core-ydlidar.inc
$ vim ros-distro/include/foxy/ros-distro-core-ydlidar.inc

  # foxy/ros-distro-core-ydlidar.inc
  # General configuration settings that are dependent on ROS_DISTRO.
  # edited to contain core dependencies required for ydlidar
  # Copyright (c) 2020-2021 LG Electronics, Inc.

  ROS_DISTRO_CODENAME = "Foxy Fitzroy"

  ROS2_DISTRO = "foxy"

  # The platform release that the metadata for this ROS distro targets. This determines the versions of the platform packages that
  # OE must provide. It must be one of the values of ROS_DISTRO_RELEASE_PLATFORMS (which is set in
  # generated/superflore-ros-distro.inc).
  ROS_DISTRO_BASELINE_PLATFORM = "ubuntu-focal"

  require conf/ros-distro/include/foxy/generated/superflore-datetime.inc
  require conf/ros-distro/include/foxy/generated/superflore-ros-distro-core-ydlidar.inc
  require conf/ros-distro/include/foxy/ros-distro-recipe-blacklist.inc
  require conf/ros-distro/include/foxy/ros-distro-preferred-versions.inc
  require conf/ros-distro/include/foxy/ros-distro-preferred-providers.inc

  # Override settings from generated/superflore-ros-distro.inc here.

  # Since superflore doesn't know when it's generating a recipe that it will be for a build tool, it can't know that what's in
  # ROS_EXEC_DEPEND are also build tools. Manually add them here.
  ROS_SUPERFLORE_GENERATED_BUILDTOOLS += " \
      ament-lint-native \
      domain-coordinator-native \
      foonathan-memory-vendor-native \
      rcpputils-native \
      rmw-dds-common-native \
      rmw-fastrtps-cpp-native \
      rmw-fastrtps-shared-cpp-native \
      rmw-native \
      rosidl-adapter-native \
      rosidl-default-runtime-native \
      rosidl-parser-native \
    rosidl-typesupport-fastrtps-c-native \
      rpyutils-native \
      uncrustify-vendor-native \
  "

  # this needs google-benchmark-vendor-native but we probably don't need native version
  ROS_SUPERFLORE_GENERATED_BUILDTOOLS_remove = "ament-cmake-google-benchmark-native"

  # alternative not yet supported implementation for fastrtps
  ROS_WORLD_SKIP_GROUPS += "connext"
  # alternative not yet supported implementation for fastrtps
  ROS_WORLD_SKIP_GROUPS += "opensplice"
  # alternative not yet supported implementation for fastrtps, there is no recipe for gurumdds-2.6
  ROS_WORLD_SKIP_GROUPS += "gurumdds"
  # Can't build these until we figure out how to build clang-format, clang-tidy without building all of clang.
  ROS_WORLD_SKIP_GROUPS += "clang"
  # recipes depending on turtlebot3 specific recipes which weren't ported to eloquent yet
  ROS_WORLD_SKIP_GROUPS += "turtlebot3"
  # recipes depending on coinor-libipopt
  ROS_WORLD_SKIP_GROUPS += "coinor-libipopt"
  # Needs work to launch qemu to run tests on image on build machine.
  ROS_WORLD_SKIP_GROUPS += "launch"
  # recipes depending on ROS_UNRESOLVED_DEP-python3-babeltrace which cannot be just
  # set to babeltrace, because python bindings in babeltrace are not enabled as shown in log.do_configure:
  # configure: You may configure with --enable-python-bindings if you want Python bindings.
  ROS_WORLD_SKIP_GROUPS += "babeltrace-python"
  # recipes depends on cwiid
  ROS_WORLD_SKIP_GROUPS += "cwiid"
  # recipes depends on libspnav
  ROS_WORLD_SKIP_GROUPS += "libspnav"
  # recipes depends on ROS_UNRESOLVED_DEP-rostime (probably the rostime from ROS1 which wasn't added to ROS2 yet)
  ROS_WORLD_SKIP_GROUPS += "rostime"
  # recipes depends on ROS_UNRESOLVED_DEP-message-generation (probably the message-generation from ROS1 which wasn't added to ROS2 yet)
  ROS_WORLD_SKIP_GROUPS += "message-generation"
  # recipes depending on legacy mongo-cxx-driver (https://packages.debian.org/source/stretch/mongo-cxx-driver-legacy)
  # the mongodb recipe in meta-oe installs just the binaries mongoc, mongos, install_compass
  # the header files searched by mongo-store, warehouse-ros-mongo cmake files cmake/FindMongoClient.cmake and cmake/FindMongoDB.cmake
  # aren't even part of current version of mongo-cxx-driver
  # src/mongo/client/dbclient.h and src/mongo/client/dbclientinterface.h are only in the legacy branches
  ROS_WORLD_SKIP_GROUPS += "mongodb-legacy-cxx-driver"

  # recipes depending on 'x11' in DISTRO_FEATURES
  ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('DISTRO_FEATURES', 'x11', '', 'x11', d)}"
  # recipes depending on 'opengl' in DISTRO_FEATURES
  ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('DISTRO_FEATURES', 'opengl', '', 'opengl', d)}"
  # recipes depending on 'ffmpeg' which is restricted by 'commercial' LICENSE_FLAG
  ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains_any('LICENSE_FLAGS_WHITELIST', ['commercial', 'ffmpeg', 'commercial_ffmpeg'], '', 'ffmpeg', d)}"
  # recipes depending on 'x264' (ffmpeg does depend on it by default as well) which is restricted by 'commercial' LICENSE_FLAG
  ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains_any('LICENSE_FLAGS_WHITELIST', ['commercial', 'x264', 'commercial_x264'], '', 'x264', d)}"
  # There is recipe for glfw in meta-oe in dunfell, but it still needs x11 in DISTRO_FEATURES
  # use that in dunfell and blacklist explicitly in older releases
  ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('DISTRO_FEATURES', 'x11', '', 'glfw', d)}"

  # webots recipes depending on unavailable python moules like:
  # ERROR: Nothing RPROVIDES 'ROS_UNRESOLVED_DEP-python-transforms3d-pip' (but meta-ros2-foxy/generated-recipes/webots-ros2-desktop/webots-ros2-core_0.0.3-1.bb RDEPENDS on or otherwise requires it)
  # ERROR: Nothing RPROVIDES 'ROS_UNRESOLVED_DEP-urdf2webots-pip' (but meta-ros2-foxy/generated-recipes/webots-ros2-desktop/webots-ros2-importer_0.0.3-1.bb RDEPENDS on or otherwise requires it)
  # ERROR: Nothing RPROVIDES 'ROS_UNRESOLVED_DEP-python3-collada-pip' (but meta-ros2-foxy/generated-recipes/webots-ros2-desktop/webots-ros2-importer_0.0.3-1.bb RDEPENDS on or otherwise requires it)
  ROS_WORLD_SKIP_GROUPS += "webots-python-modules"

  # recipes depending on gazebo, for which there is no OE recipe
  ROS_WORLD_SKIP_GROUPS += "gazebo"

  # doosan-robot2 recipes depending on ROS_UNRESOLVED_DEP-controller_manager, ROS_UNRESOLVED_DEP-hardware_interface, ROS_UNRESOLVED_DEP-ament_python-native
  ROS_WORLD_SKIP_GROUPS += "doosan-robot2"

  # recipes depending on ros1
  ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('BBFILE_COLLECTIONS', 'ros1-layer', '', 'ros1', d)}"

  # recipes depending on something from meta-qt5 layer
  ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('BBFILE_COLLECTIONS', 'qt5-layer', '', 'qt5', d)}"

  # recipes depending on libqglviewer (https://packages.debian.org/source/stretch/libqglviewer https://packages.debian.org/stretch/libqglviewer2-qt5)
  ROS_WORLD_SKIP_GROUPS += "libqglviewer"

  # recipes depending on ignition-* (ROS_UNRESOLVED_DEP-ignition-math6, ROS_UNRESOLVED_DEP-ignition-msgs5, ROS_UNRESOLVED_DEP-ignition-transport8)
  ROS_WORLD_SKIP_GROUPS += "ignition"

  # recipes depending on pugixml
  ROS_WORLD_SKIP_GROUPS += "pugixml"

  # Not compatible with newer libftdi included in meta-oe: https://github.com/kobuki-base/kobuki_ftdi/issues/3
  ROS_WORLD_SKIP_GROUPS += "kobuki-ftdi"

  # recipes depending on java from meta-java
  ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('BBFILE_COLLECTIONS', 'meta-java', '', 'java', d)}"

  # recipes depending on libomp which could be provided by openmp@meta-clang
  ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('BBFILE_COLLECTIONS', 'clang-layer', '', 'libomp', d)}"

  # do_configure failures
  ROS_WORLD_SKIP_GROUPS += " \
      lanelet2-traffic-rules \
  "

  # do_compile failures
  ROS_WORLD_SKIP_GROUPS += " \
      mrpt2 \
      qt-gui-cpp \
  "

  # Must use a _pn- override in this file to override the ROS_BUILD_TYPE of a generated recipe,
  # because we need to set this variable before the "inherit" line in the recipe is parsed,
  # and having it in a .bbappend sets it too late.
  # We want ament_cmake instead of plain cmake for ros-workspace:
  # https://raw.github.com/ros2-gbp/ros_workspace-release/release/foxy/ros_workspace/1.0.1-1/package.xml
  ROS_BUILD_TYPE_pn-ros-workspace = "ament_cmake"

  # Used by generated-recipes/cyclonedds/cyclonedds_0.7.0-1.bb:
  ROS_UNRESOLVED_DEP-java-native = ""
  ROS_UNRESOLVED_DEP-maven-native = ""

  # Submitted with https://github.com/ros/rosdistro/pull/29534
  ROS_UNRESOLVED_DEP-qttools5-dev-tools = "qttools"


# Update layer.conf
  
## https://drive.google.com/file/d/1PbtCrQHI8xXwTMxfvZaXyWx3n_WBuMat/view?usp=sharing
$ vim layer.conf

  # We have a conf and classes directory, append to BBPATH
  BBPATH .= ":${LAYERDIR}"

  # We have a recipes directory, add to BBFILES
  BBFILES += "${LAYERDIR}/recipes-*/*/*.bb ${LAYERDIR}/recipes-*/*/*.bbappend ${LAYERDIR}/generated-recipes/*/*.bb"

  BBFILE_COLLECTIONS += "ros2-foxy-layer"
  BBFILE_PATTERN_ros2-foxy-layer := "^${LAYERDIR}/"
  BBFILE_PRIORITY_ros2-foxy-layer = "12"

  # Version 1 was the manually created meta-ros, prior to the introduction of superflore.
  # Version 2 was all ROS distributions in the same meta-ros layer with right subdirectories selected by ROS_DISTRO variable
  # Version 3 is with each ROS distribution in separate sublayer of meta-ros git repository (with modifications to generated recipes applied in .bbappends instead of .inc files)
  LAYERVERSION_ros2-foxy-layer = "3"

  LAYERDEPENDS_ros2-foxy-layer = " \
      core \
      meta-python \
      openembedded-layer \
      ros-common-layer \
      ros2-layer \
  "

  LAYERSERIES_COMPAT_ros2-foxy-layer = "${ROS_OE_RELEASE_SERIES}"

  # require conf/ros-distro/include/foxy/ros-distro.inc
  require conf/ros-distro/include/foxy/ros-distro-core-ydlidar.inc


# Final State

$ cd $AGL_TOP/master/external/meta-ros/meta-ros2-foxy/conf/
$ tree
  ├── layer.conf [modified]
  └── ros-distro
      └── include
          └── foxy
              ├── generated
              │   ├── superflore-datetime.inc
              │   ├── superflore-ros-distro.inc [x]
              |   └── superflore-ros-distro-core-ydlidar.inc [new]
              ├── ros-distro.inc [x]
              ├── ros-distro-core-ydlidar.inc [new]
              ├── ros-distro-preferred-providers.inc
              ├── ros-distro-preferred-versions.inc
              ├── ros-distro-recipe-blacklist.inc
              └── ros-distro-recipe-blacklist-logs
                  ├── lanelet2-traffic-rules.do_configure
                  ├── mrpt2.do_compile
                  ├── qt-gui-cpp.do_compile
                  └── warehouse-ros-mongo.do_configure
## the files marked [x] will be not currently in use, instead modified [new] files will be used.

Build core-master/x86: meta-ros + agl-image-weston + YDLIDAR core dependencies support

  • 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, 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 core-build-x86-meta-ros-weston 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"
      
$ 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/core-build-x86-meta-ros-weston/
$ 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-weston #wait for the build process to finish.

Run core-master/x86: meta-ros + agl-image-weston + YDLIDAR core dependencies support

  • Kindly use pre-built image agl-image-weston-qemux86-64, if you want to skip the building process.

  • Kindly go through using prebuilt x86 images for detailed reference to setup and initialize AGL workspace.

    # gdrive : https://drive.google.com/drive/folders/1wqgsf9BnM4dUme9W0yOxvhyn260WwHtj?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-weston-qemux86-64.ext4 ./
$ cp ~/Downloads/bzImage ./
$ sync

# Run
$ vim startup.sh
  # attach YDLIDAR to the host system.
  #-device usb-host,hostbus=1,hostport=4, change accordingly to ydlidar usb port `lsusb -t` 

  ( 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-weston-qemux86-64.ext4,if=virtio,format=raw -show-cursor -usb -usbdevice tablet -device virtio-rng-pci \
      -device usb-host,hostbus=1,hostport=4 -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 \

$ sudo ./startup.sh

# Boots up
qemu-system-x86_64: -usbdevice tablet: '-usbdevice' is deprecated, please use '-device usb-...' instead
qemu-system-x86_64: warning: host doesn't support requested feature: CPUID.80000001H:ECX.svm [bit 2]

Automotive Grade Linux 11.91.0+snapshot qemux86-64 ttyS1

qemux86-64 login: root
    
## Run ROS.
root@qemux86-64:~# source /usr/bin/ros_setup.sh
root@qemux86-64:/# echo $LD_LIBRARY_PATH
  /usr/lib/x86_64-linux-gnu:/usr/lib

## Run YDLIDAR.
root@qemux86-64:/# cd /usr/share/ydlidar_ros2_driver/ 
root@qemux86-64:/# vim params/ydlidar.yaml
# Edit accordingly, for YDLIDAR X4 :
  ydlidar_ros2_driver_node:
    ros__parameters:
      port: /dev/ttyUSB0
      frame_id: laser_frame
      ignore_array: ""
      baudrate: 128000
      lidar_type: 1
      device_type: 0
      sample_rate: 5
      abnormal_check_count: 4
      resolution_fixed: true
      reversion: false
      inverted: true
      auto_reconnect: true
      isSingleChannel: false
      intensity: false
      support_motor_dtr: true
      angle_max: 180.0
      angle_min: -180.0
      range_max: 12.0
      range_min: 0.1
      frequency: 8.0
      invalid_range_is_inf: false

root@qemux86-64:/usr/share/ydlidar_ros2_driver# ros2 launch launch/ydlidar_launch.py # YDLIDAR starts spinning

# In a new terminal, ssh into qemu : $ ssh -p 2222 root@localhost
root@qemux86-64:~# source /usr/bin/ros_setup.sh
root@qemux86-64:/# echo $LD_LIBRARY_PATH
  /usr/lib/x86_64-linux-gnu:/usr/lib
root@qemux86-64:~# ros2 topic list -t
  /parameter_events [rcl_interfaces/msg/ParameterEvent]
  /rosout [rcl_interfaces/msg/Log]
  /scan [sensor_msgs/msg/LaserScan]
  /tf_static [tf2_msgs/msg/TFMessage]
  /ydlidar_ros2_driver_node/transition_event [lifecycle_msgs/msg/TransitionEvent]
root@qemux86-64:~# ros2 topic echo /scan # View data stream
    
# In either terminal
root@qemux86-64:/# poweroff #else, runs in background

Preliminary review and research to develop LIDAR visualization application on AGL