GSoC Weekly Update: Week 9

Week 9 :

Creation of packagegroup-agl-ros2-ydlidar to simpfily embedding of meta-ros + YDLIDAR support

Create new packagegroup, packagegroup-agl-ros2-ydlidar with minimal list of ros packages for ydlidar.

# Change into AGL feature directory
$ cd $AGL_TOP/master/meta-agl/meta-agl-core/recipes-platform/packagegroups
  
# Edit BB file to include minimal list of ros packages for ydlidar
$ vim packagegroup-agl-ros2-ydlidar.bb
  
    DESCRIPTION = "The minimal set of packages required for ydlidar support with ROS2"
    LICENSE = "MIT"

    inherit packagegroup

    PACKAGES = "\
        packagegroup-agl-ros2-ydlidar \
        "

    ALLOW_EMPTY_${PN} = "1"

    RDEPENDS_${PN} += " \
          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 \   
      "

# 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-ros-world-foxy"

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

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 new-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/new-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 master/x86: meta-ros + agl-image-weston + YDLIDAR support using updated agl-ros2-ydlidar feature to include packagegroup-agl-ros2-ydlidar

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/1gXNhTAFDtGlcTLpm4r0QdhqlkCHzHiM0?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

Updating agl-ros2-ydlidar feature to add qt bits

Update agl-ros2-ydlidar feature template with qt packagegroup (packagegroup-agl-appfw-native-qt5).

# 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"

Build master/x86: meta-ros + agl-image-weston + YDLIDAR + qt support using updated 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 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 agl-image-weston #wait for the build process to finish.

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

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/1t_hxaajfBRxmILnJQ0yQC1BUodNYpiz3?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