wr-ros provides recipes for integrated the meta-ros layer with Wind River Linux.
The source code for this project is provided under the MIT license. Text for any dependencies and other applicable license notices can be found in the LICENSE-NOTICES.txt 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.
URI: git://github.com/ros/meta-ros.git
branch: zeus
URI: https://github.com/meta-qt5/meta-qt5.git
branch: zeus
URI: https://github.com/schnitzeltony/meta-qt5-extra.git
branch: zeus
URI: https://github.com/IntelRealSense/meta-intel-realsense
branch: zeus
Rob Woolley rob.woolley@windriver.com
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Download Wind River Linux LTS 19
Clone the Wind River Linux repository into a new project directory.
git clone -b WRLINUX_10_19_BASE https://github.com/WindRiver-Labs/wrlinux-x.git -
Configure Wind River Linux in a new build directory
mkdir wrlinux-ros2 cd wrlinux-ros2 ../wrlinux-x/setup.sh --machines=bcm-2xxx-rpi4 --distros=wrlinux --dl-layers -
Add the additional layers
cd layers git clone -b zeus https://github.com/ros/meta-ros.git git clone https://github.com/Wind-River/meta-robot.git git clone https://github.com/Wind-River/wr-ros.git git clone -b zeus https://github.com/IntelRealSense/meta-intel-realsense.git -
(Optional Qt) Add the Qt5 layers
git clone -b zeus https://github.com/meta-qt5/meta-qt5.git git clone -b zeus https://github.com/schnitzeltony/meta-qt5-extra.git -
Return to the wrlinux-ros2 directory
cd .. -
Initialize the build environment
. environment-setup-x86_64-wrlinuxsdk-linux . oe-init-build-env raspberrypi4-build -
Download and set up ROS Layers
This section assumes that you have sourced the OpenEmbedded build environment in the previous step.
cd $BUILDDIR -
Configure Bitbake layers Use bitbake-layers to add the ROS2 layers to your BitBake configuration.
bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-ros/meta-ros-common bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-ros/meta-ros2 bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-ros/meta-ros2-foxy bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-ros/meta-ros-backports-dunfell bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/wr-ros bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-intel-realsense -
(Optional Qt) Add the Qt5 layers
bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-qt5 bitbake-layers add-layer $(readlink -f $BUILDDIR/../layers)/meta-qt5-extra -
(Optional Qt) Download and patch the unsupported Qt5 integration for Wind River Linux
cd $BUILDDIR/../layers/wrlinux curl -O https://labs.windriver.com/downloads/0001-wrlinux-template-add-template-qt5-for-wrlinux.patch git am 0001-wrlinux-template-add-template-qt5-for-wrlinux.patch curl -O https://labs.windriver.com/downloads/0002-wrlinux-template-add-lxqt-support-for-wrlinux.patch git am 0002-wrlinux-template-add-lxqt-support-for-wrlinux.patch cd $BUILDDIR/../layers/meta-qt5-extra curl -O https://labs.windriver.com/downloads/0001-polkit-qt-1-fix-compile-error.patch git am 0001-polkit-qt-1-fix-compile-error.patch cd $BUILDDIR -
Modify local configuration
Enable network access for fetching source tarballs and disable all the whitelist layers.
Add the following to the end of conf/local.conf
BB_NO_NETWORK = '0' PNWHITELIST_LAYERS = "" DISTRO_FEATURES_append = " x11 opengl vulkan polkit" IMAGE_INSTALL_append += " packagegroup-ros-world" SYSROOT_DIRS_append += " ${nonarch_libdir} " FILES_${PN}-dbg += "${nonarch_libdir}/.debug" FILES_${PN}-dev += "${nonarch_libdir}/pkgconfig ${nonarch_libdir}/cmake" FILES_${PN} += "${nonarch_libdir}/lib*.so*" FILES_${PN} += "${nonarch_libdir}/${ROS_BPN}" FILES_${PN} += "${nonarch_libdir}/${PYTHON_DIR}" FILES_${PN}-dev += "${nonarch_libdir}/${PYTHON_DIR}/site-packages/*.la" FILES_${PN}-staticdev += "${nonarch_libdir}/lib*.a" FILES_${PN}-staticdev += "${nonarch_libdir}/${PYTHON_DIR}/site-packages/*.a" INSANE_SKIP_${PN}-dbg += "libdir" INSANE_SKIP_${PN} += "dev-so libdir" -
(Optional Qt) Add qt5 to the configuration
Edit the conf/local.conf again to add the following lines:
WRTEMPLATE = "feature/qt5" LICENSE_FLAGS_WHITELIST = "commercial" ROS_WORLD_SKIP_GROUPS_remove = "world-license" ROS_WORLD_SKIP_GROUPS_remove = "turtlebot3" ROS_WORLD_SKIP_GROUPS_remove = "qt-gui-cpp" ROS_WORLD_SKIP_GROUPS_remove = "world-license-faad" PACKAGECONFIG_append_pn-qtbase-native = " gui" -
Remove webots from packagegroup-ros-world-foxy
Edit the conf/local.conf again to add the following lines:
ROS_WORLD_SKIP_GROUPS += "webots-python-modules" RDEPENDS_packagegroup-ros-world-foxy_remove += " \ webots-ros2-epuck \ webots-ros2-tiago \ webots-ros2-universal-robot \ " -
Build Wind River Linux standard filesystem
bitbake wrlinux-image-std -
(Optional Qt) Build Wind River Linux with Qt5
bitbake wrlinux-image-std-sato
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