Add appropriate repos, links into layers, playground, and a readme.

.gitignore

@@ -4,5 +4,6 @@ build*/
 *.pyo
 .ssh
 
+artifacts/
 downloads/
 sstate-cache/

Dockerfile

@@ -0,0 +1,98 @@
+# This dockerfile allows you to build an environment for cross-compiling packages for the Jetson.
+# It is based on the SDK generated by yocto.
+# To be able to build this dockerfile, you have to run `bitbake mr-nadir-image -c populate_sdk` 
+# in a yocto environment. This will generate a .sh file in build/tmp/deploy/sdk/ which then 
+# can be used to build this dockerfile.
+#
+# THere are several fixes needed to make this work, for example the paths in some cmake files
+# need to be fixed. This is done in the dockerfile.
+# Additional yocto packages are added to the image in mr-nadir-image.bb (see meta-nadir/recipes-core/images/mr-nadir-image.bb)
+# And there is a nadir-image-sdk-support package which adds some additional scripts to the SDK.
+#
+# To build: 
+# $ docker build . -t yocto-ros-cross-sdk:latest
+# 
+# To run:
+# $ docker run -it --rm -v $(pwd):/workdir yocto-ros-cross-sdk:latest
+# 
+# Whre $(pwd) is the path to the root of the nadir-os repo.
+# You can also pass a command to the docker run command. There is a script in the PATH called cross-build which
+# allows you to build a single package. For example:
+# $ docker run -it --rm -v $(pwd):/workdir yocto-ros-cross-sdk:latest cross-build nadir_commander
+
+
+
+FROM ubuntu:22.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt update && \
+    apt install -y \
+        python3 \
+        xz-utils \
+        perl \
+        findutils \
+        file \
+        vim \
+        nano \
+        git \
+        less \
+        sudo \
+        wget \
+        curl \
+        \
+        && \
+    rm -rf /var/lib/apt/lists/*
+
+
+# Copy the SDK
+RUN mkdir -p /work/sdk
+ARG CURRENT_DIR="."
+COPY artifacts/tmp/deploy/sdk/ /work/sdk
+
+# Install the SDK
+RUN sh /work/sdk/*-toolchain*.sh \
+    -y -d /opt/sdk && \
+    rm -rf /opt/sdk/sysroots/*-linux/usr/lib/openssl/ptest/test && \
+    rm /work -rf
+
+# Fix paths in some cmake files
+RUN cd /opt/sdk \
+    echo "#!/bin/bash" > /tmp/fix_paths.sh && \
+    echo "set -x" >> /tmp/fix_paths.sh && \
+    echo ". /opt/sdk/environment-setup-*-linux*" >> /tmp/fix_paths.sh && \
+    echo 'grep -rl "FIXMESTAGINGDIRHOST" /opt/sdk |  xargs sed -i "s#FIXMESTAGINGDIRHOST#${OECORE_NATIVE_SYSROOT}#g"' >> /tmp/fix_paths.sh && \
+    echo 'grep -rl "/usr/lib/libpython3.10.so" /opt/sdk |  xargs sed -i "s#/.*/.*-linux.*/.*/recipe-sysroot/usr/lib/libpython3.10.so#${SDKTARGETSYSROOT}/usr/lib/libpython3.10.so#g"' >> /tmp/fix_paths.sh && \
+    echo "set +x" >> /tmp/fix_paths.sh && \
+    chmod +x /tmp/fix_paths.sh && \
+    /tmp/fix_paths.sh && \
+    rm /tmp/fix_paths.sh
+
+
+# create entrypoint and cross-build script
+RUN echo "#!/bin/bash" > /entrypoint.sh && \
+    echo "source /opt/sdk/environment-setup-*-linux*" >> /entrypoint.sh && \    
+    echo "if [ -z \"\$1\" ]" >> /entrypoint.sh && \
+    echo "then" >> /entrypoint.sh && \
+    echo "    . /opt/sdk/sysroots/x86_64-oesdk-linux/etc/profile.d/ros.sh" >> /entrypoint.sh && \
+    echo "    echo \"Welcome to the SDK build environment, you now can run colcon like normal.\"" >> /entrypoint.sh && \
+    echo "    echo \"We already called '. /opt/sdk/sysroots/x86_64-oesdk-linux/etc/profile.d/ros.sh' for you.\"" >> /entrypoint.sh && \
+    echo "    echo \"\"" >> /entrypoint.sh && \
+    echo "    exec bash" >> /entrypoint.sh && \
+    echo "    exit 0" >> /entrypoint.sh && \
+    echo "fi" >> /entrypoint.sh && \
+    echo "exec \"\$@\"" >> /entrypoint.sh && \
+    chmod +x /entrypoint.sh 
+
+# add user sdkbuild
+RUN useradd -ms /bin/bash sdkbuild
+# allow sudo without password
+RUN echo "sdkbuild ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+# RUN  . /opt/sdk/environment-setup-*-linux && \   
+#      python3 -m ensurepip --upgrade && \
+#      python3 -m pip install vcstool
+
+USER sdkbuild
+
+WORKDIR /workdir
+ENTRYPOINT ["/entrypoint.sh"]

Readme.md

@@ -0,0 +1,54 @@
+# ROS2 SDK Demo Image
+
+This is an example of yocto ROS2 with a setup that can create an SDK for cross compilation.
+It has been developed/tested with `MACHINE=raspberry4` but should be easy to adapt.
+
+## Building an SDK
+
+You will need build environment that is [setup to build yocto](https://docs.yoctoproject.org/4.0.13/brief-yoctoprojectqs/index.html#compatible-linux-distribution). 
+See below for an example using docker.
+
+    git clone <REPO URL>
+    cd yocto-ros2-sdk-demo
+    git submodule update --init
+    . ./layers/oe-init-build-env build
+
+Now you have a `build` directory, ready to go.
+This is based on the `raspberry4` machine. 
+
+## To build the sdk:
+
+    bitbake ros2-demo-image -c do_populate_sdk
+
+The SDK install files are then available in `<REPO ROOT DIR>/artifacts/tmp/deploy/sdk/`.
+This path is important, as the Dockerfile to create a build image is dependend on it. 
+
+## Build a Docker image
+
+    ./scripts/create-sdk-docker-latest.sh
+
+This will create a docker iamge named `yocto-ros-cross-sdk:latest`. 
+
+## Run the build container:
+
+    ./scripts/start-build-container.sh .
+
+This will start the build container with the SDK setup. 
+The parameter passed to the script `.` is the path that should be made available to `/workdir`. 
+This path can be outside the current directory.
+
+## Build the action_tutorials_cpp
+
+Inside the build container:
+
+    cd /workdir/playground
+    colcon build
+
+
+## Get your disk space back:
+
+    rm -rf artifacts/tmp
+
+Get all your disk space back:
+
+    rm -rf artifacts/*

layers/.templateconf

@@ -0,0 +1,3 @@
+# This file is required by oe-setup-buildenv script
+# but not used in this repository 
+TEMPLATECONF=${TEMPLATECONF:-meta-ros2-demo-image/conf/template-ros2-demo}

layers/meta-filesystems

@@ -0,0 +1 @@
+../repos/meta-openembedded/meta-filesystems

layers/meta-networking

@@ -0,0 +1 @@
+../repos/meta-openembedded/meta-networking

layers/meta-oe

@@ -0,0 +1 @@
+../repos/meta-openembedded/meta-oe

layers/meta-poky

@@ -0,0 +1 @@
+../repos/poky/meta-poky

layers/meta-python

@@ -0,0 +1 @@
+../repos/meta-openembedded/meta-python

layers/meta-raspberypi

@@ -0,0 +1 @@
+../repos/meta-raspberypi

layers/meta-ros2-demo-image/.templateconf

@@ -0,0 +1 @@
+TEMPLATECONF=${TEMPLATECONF:-meta-mr-core/conf/template-$DISTRO}

layers/meta-ros2-demo-image/conf/distro/mr-core._

@@ -0,0 +1,67 @@
+DISTRO = "mr-core"
+DISTRO_NAME = "Mission Robotics Core OE4Tegra Distro"
+DISTRO_VERSION_BASE = "1.0.3"
+DISTRO_VERSION = "${DISTRO_VERSION_BASE}+snapshot-${DATE}"
+DISTRO_CODENAME = "kirkstone-l4t-r32.7"
+SDK_VENDOR = "-tdsdk"
+SDK_VERSION := "${@'${DISTRO_VERSION}'.replace('snapshot-${METADATA_REVISION}','snapshot')}"
+SDK_VERSION[vardepvalue] = "${SDK_VERSION}"
+
+MAINTAINER = "OE4Tegra team <[email protected]>"
+
+TARGET_VENDOR = "-oe4t"
+
+# New ${DISTRO}-<version> setting for sanity checks.
+# Increment version number (and the corresponding
+# setting int the template bblayers.conf.sample file)
+# each time the layer settings are changed.
+REQUIRED_TD_BBLAYERS_CONF_VERSION = "${DISTRO}-7"
+
+LOCALCONF_VERSION = "2"
+
+TD_DEFAULT_DISTRO_FEATURES = "largefile opengl ptest multiarch wayland vulkan systemd pam virtualization"
+
+DISTRO_FEATURES ?= "${DISTRO_FEATURES_DEFAULT} ${TD_DEFAULT_DISTRO_FEATURES}"
+
+# Jetson platforms do not use linux-yocto, but for QEMU testing
+# align with the poky distro.
+PREFERRED_VERSION_linux-yocto ?= "5.15%"
+PREFERRED_VERSION_linux-yocto-rt ?= "5.15%"
+
+# Gstreamer libraries are passed through to containers when using
+# nvidia-docker, so our version of Gstreamer must match the one in
+# the stock L4T/JetPack release.
+require conf/include/gstreamer-1.14.conf
+
+SDK_NAME = "${DISTRO}-${TCLIBC}-${SDKMACHINE}-${IMAGE_BASENAME}-${TUNE_PKGARCH}-${MACHINE}"
+SDKPATHINSTALL = "/opt/${DISTRO}/${SDK_VERSION}"
+
+TCLIBCAPPEND = ""
+
+PACKAGE_CLASSES ?= "package_rpm"
+
+SANITY_TESTED_DISTROS ?= " \
+            ubuntu-18.04 \n \
+            ubuntu-20.04 \n \
+            ubuntu-22.04 \n \
+            "
+
+# CUDA 10.2 requires gcc 8
+CUDA_GCCVERSION = "8.%"
+
+# Most NVIDIA-supplied services expect systemd
+INIT_MANAGER = "systemd"
+
+INHERIT += "tegra-support-sanity"
+ESDK_CLASS_INHERIT_DISABLE:append = " tegra-support-sanity"
+
+require conf/distro/include/no-static-libs.inc
+require conf/distro/include/yocto-uninative.inc
+require conf/distro/include/security_flags.inc
+INHERIT += "uninative"
+
+BB_SIGNATURE_HANDLER ?= "OEEquivHash"
+BB_HASHSERVE ??= "auto"
+
+LICENSE_FLAGS_ACCEPTED += "commercial_faad2"
+

layers/meta-ros2-demo-image/conf/layer.conf

@@ -0,0 +1,23 @@
+# 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 ${LAYERDIR}/generated-recipes/*/*.bb"
+
+BBFILE_COLLECTIONS += "ros2-demo-iamge"
+BBFILE_PATTERN_ros2-demo-iamge := "^${LAYERDIR}/"
+BBFILE_PRIORITY_ros2-demo-iamge = "12"
+
+LAYERVERSION_ros2-demo-iamge = "1"
+
+LAYERDEPENDS_ros2-demo-iamge = " \
+    core \
+    meta-python \
+    openembedded-layer \
+    ros-common-layer \
+    ros2-layer \
+"
+
+LAYERSERIES_COMPAT_ros2-demo-iamge = "${ROS_OE_RELEASE_SERIES}"
+
+require conf/ros-distro/include/iron/ros-distro.inc

layers/meta-ros2-demo-image/conf/template-ros2-demo/bblayers.conf.sample

@@ -0,0 +1,22 @@
+# Version of layers configuration, specific to
+# each defined distro in the repository.
+# Format: ${DISTRO}-<version>
+TD_BBLAYERS_CONF_VERSION = "mr-core-7"
+
+BBPATH = "${TOPDIR}"
+BBFILES ?= ""
+
+BBLAYERS ?= " \
+  ##OEROOT##/meta \
+  ##OEROOT##/meta-poky \
+  ##OEROOT##/meta-yocto-bsp \
+  ##OEROOT##/meta-oe \
+  ##OEROOT##/meta-python \
+  ##OEROOT##/meta-networking \
+  ##OEROOT##/meta-filesystems \
+  ##OEROOT##/meta-raspberypi \
+  ##OEROOT##/meta-ros-common \
+  ##OEROOT##/meta-ros2 \
+  ##OEROOT##/meta-ros2-iron \
+  ##OEROOT##/meta-ros2-demo-image \
+  "

layers/meta-ros2-demo-image/conf/template-ros2-demo/conf-notes.txt

@@ -0,0 +1,5 @@
+### Shell environment set up for builds. ###
+
+You can now run 'bitbake <target>'
+Targets for building Mission Robotics Tegra images:
+    ros2-demo-image     - basic image with no graphics