Week 8 :

Creation of agl-ros2-ydlidar feature template

• Create agl-ros2-ydlidar feature template with addition of BBLAYER and CONF files.

  # Change into AGL feature directory
  $ cd $AGL_TOP/master/meta-agl/templates/feature/
  $ mkdir agl-ros2-ydlidar
  
  # Edit BBLAYER & CONF files
  $ vim agl-ros2-ydlidar/50_bblayers.conf.inc
    
    BBLAYERS =+ " \
                ${METADIR}/external/meta-openembedded/meta-python \
                ${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 \
                " 
  $ vim agl-ros2-ydlidar/50_local.conf.inc
  
    #meta-ros2-ydlidar                
  
    IMAGE_INSTALL_append = " packagegroup-ros-world-foxy"
  

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

• Kindly go through build process of AGL and building for x86 for detailed reference to setup and initialize 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 build-x86-meta-ros-weston-agl-ros2-ydlidar 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/build-x86-meta-ros-weston-agl-ros2-ydlidar/
  $ 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 support using agl-ros2-ydlidar feature

• Kindly use pre-built image agl-demo-core-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/1w_8XsVA3sSjk2K8rVSUbUKfRAWw71mQy?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=1, 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=1 -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