VxWorks® 7 ROS2 Build Scripts

Overview

The VxWorks 7 ROS2 Build Scripts provide build scripts to automate building ROS2 with a VxWorks SDK.

The Robot Operating System 2 is a set of software libraries and tools that aid in building robot applications. ROS2 is a re-architecture of the framework to include support for new use cases.

These new use cases include:

Teams of multiple robots
Small embedded platforms
Real-time systems
Non-ideal networks
Production environment
Design patterns for building and structuring systems

The default configuration build configuration will build a minimal set of ROS2 packages necessary for running the example applications.

This configuration is suited for prototyping and personal use. Please refer to the details of each individual ROS2 package for details on what requirements and terms of use they may have.

NOTE: ROS2 is not part of any VxWorks® product. If you need help, use the resources available or contact your Wind River sales representative to arrange for consulting services.

Project License

The source code for this project is provided under the Apache 2.0 license license. Text for the ROS2 dependencies and other applicable license notices can be found in the LICENSE file in the project top level directory. Different files may be under different licenses. Each source file should include a license notice that designates the licensing terms for the respective file.

NOTE: Your use of the VxWorks SDK is subject to the non-commercial use license agreement that accompanies the software (the "License"). To review the License, please read the file NCLA.txt which can be viewed from a browser here: Non-Commercial License Agreement.

By downloading, installing or using the software, you acknowledge that you have read, understand, and are agreeing to the terms of the License. Subject to the License, you can proceed to download the VxWorks SDK.

Prerequisite(s)

Download a VxWorks Software Development Kit from Wind River Labs
- https://labs.windriver.com/downloads/wrsdk.html
The build system will need to download source code from github.com and bitbucket.org. A working Internet connection with access to both sites is required.

For the standard build you must also have:

Supported Linux host for both ROS2 and VxWorks 7
- ROS 2.0 Target Platforms
  - http://www.ros.org/reps/rep-2000.html
- VxWorks 7 SR0640
  - https://docs.windriver.com/bundle/vxworks_7_release_notes_sr0640/page/bym1551818657142.html
- For ROS2 Dashing Diademata, Ubuntu Bionic (18.04) 64-bit LTS is the Tier 1 host
Install the development tools and ROS tools from “Building ROS 2 on Linux”
- https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup/
Install the “Required Linux Host OS Packages” for VxWorks 7
- https://docs.windriver.com/bundle/2020_03_Workbench_Release_Notes_SR0640_1/page/age1436590316395.html
Mercurial (hg) package for Eigen (optional)

Directory Structure

Packages

├── Docker
├── Makefile
├── pkg
│   ├── asio
│   ├── colcon
│   ├── python
│   ├── ros2
│   ├── sdk
│   ├── tinyxml2
│   ├── turtlebot3
│   └── unixextra

It uses Makefile to invoke ros2 and turtlebot3 colcon build, and also build some dependencies. A Docker (Ubuntu 18.04) based build is used to avoid a necessity for installing build dependencies. Build Artifacs

├── build      - pkg build artifacts
├── downloads  - download arctifacts
├── export     
    ├── deploy - a ready-to-deploy filesystem with ROS2 libraries and binaries
    └── root   - a development artifacts with ROS2 libraries and headers

ROS2 VxWorks patches

ROS2 patches for VxWorks are located in the separate repository https://github.com/Wind-River/vxworks7-layer-for-ros2

It is cloned during the build to the patches dir

├── pkg
│   ├── ros2
│   │   ├── patches

Build VxWorks 7 and ROS2

Clone this repository using the master branch

git clone https://github.com/Wind-River/vxworks7-ros2-build.git
cd vxworks7-ros2-build

Build Docker image

cd Docker/vxbuild
docker build -t vxbuild:1.0 .
cd Docker/vxros2build
docker build -t vxros2build:1.0 .

Download the VxWorks SDK for IA - UP Squared from https://labs.windriver.com/downloads/wrsdk.html

wget https://labs.windriver.com/downloads/wrsdk-vxworks7-up2-1.7.tar.bz2

Extract the VxWorks SDK tarball

tar –jxvf wrsdk-vxworks7-up2-1.7.tar.bz2

Run Docker image

cd vxworks7-ros2-build
docker run -ti -v <path-to-the-wrsdk>:/wrsdk -v $PWD:/work vxros2build:1.0

Inside Docker container: Source the development environment

wruser@d19165730517:/work source /wrsdk/toolkit/wind_sdk_env.linux

Inside Docker container: Run make to build ROS2 using the SDK

wruser@d19165730517:/work make

Build artifacts are in the export directory

wruser@d19165730517:/work ls export/deploy/
bin  lib

Rebuild from scratch

wruser@d19165730517:/work make distclean
wruser@d19165730517:/work make

Run ROS2 C/C++ examples

Run QEMU

sudo apt-get install uml-utilities
sudo tunctl -u $USER -t tap0
sudo ifconfig tap0 192.168.200.254 up

cd vxworks7-ros2-build
qemu-system-x86_64 -m 512M  -kernel $WIND_SDK_HOME/bsps/itl_generic_2_0_2_1/boot/vxWorks -net nic  -net tap,ifname=tap0,script=no,downscript=no -display none -serial stdio -monitor none -append "bootline:fs(0,0)host:vxWorks h=192.168.200.254 e=192.168.200.1 u=target pw=boot o=gei0" -usb -device usb-ehci,id=ehci  -device usb-storage,drive=fat32 -drive file=fat:ro:./export/deploy,id=fat32,format=raw,if=none

Run QEMU with a prebuilt VxWorks kernel and the export directory mounted as a USB device

Run ROS2 example

telnet 192.168.200.1

-> cmd
[vxWorks *]# set env LD_LIBRARY_PATH="/bd0a/lib"
[vxWorks *]# cd  /bd0a/bin/
[vxWorks *]# rtp exec -u 0x20000 timer_lambda
Launching process 'timer_lambda' ...
Process 'timer_lambda' (process Id = 0xffff80000046f070) launched.
[INFO] [minimal_timer]: Hello, world!
[INFO] [minimal_timer]: Hello, world!
[INFO] [minimal_timer]: Hello, world!
[INFO] [minimal_timer]: Hello, world!

Run ROS2 Python examples

[vxWorks *]# rtp exec -u 0x20000 python3 ros2
Launching process 'python' ...
Process 'python' (process Id = 0xffff80000046f070) launched.

Build a simple CMake based OSS project

wget https://labs.windriver.com/downloads/wrsdk-vxworks7-up2-1.7.tar.bz2
tar –jxvf wrsdk-vxworks7-up2-1.7.tar.bz2
source ./wrsdk-vxworks7-up2/toolkit/wind_sdk_env.linux

git clone https://github.com/Wind-River/vxworks7-ros2-build.git
cd vxworks7-ros2-build
export TOP_BUILDDIR=$PWD
export WIND_USR_MK=$TOP_BUILDDIR/mk/usr
export PACKAGE_DIR=$TOP_BUILDDIR/pkg
DEFAULT_BUILD=unixextra make

git clone https://github.com/leethomason/tinyxml2.git
cd tinyxml2; mkdir vxworks-build; cd vxworks-build
cmake .. -DCMAKE_TOOLCHAIN_FILE=$TOP_BUILDDIR/buildspecs/cmake/rtp.cmake
make VERBOSE=1

Legal Notices

All product names, logos, and brands are property of their respective owners. All company, product and service names used in this software are for identification purposes only. Wind River and VxWorks are registered trademarks of Wind River Systems, Inc. UNIX is a registered trademark of The Open Group.

Disclaimer of Warranty / No Support: Wind River does not provide support and maintenance services for this software, under Wind River’s standard Software Support and Maintenance Agreement or otherwise. Unless required by applicable law, Wind River provides the software (and each contributor provides its contribution) on an “AS IS” BASIS, WITHOUT WARRANTIES OF ANY KIND, either express or implied, including, without limitation, any warranties of TITLE, NONINFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for determining the appropriateness of using or redistributing the software and assume any risks associated with your exercise of permissions under the license.

orcasdli/vxworks7-ros2-build