ros-linaro-build

Instructions on building ROS on an odroid-u2 running Linaro. You can either install via the provided install script (ros-install.sh), or follow instructions in this README.

Current Images

2013 Feb 05

2013 Feb 08

Current Status

May have bugs, and is not 100% complete yet.

[Changelog] (Changelog.md)

[Resources] (Resources.md)

Installation Setup

System update/upgrade:

$ sudo apt-get update; sudo apt-get upgrade -y

ROS dependencies:

Add ROS repo:

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
$ sudo apt-get update; sudo apt-get upgrade -y

Install ROS base packages:

$ sudo apt-get install python-rosdep python-wstool python-catkin-pkg build-essential -y

Install system dependencies:

$ sudo apt-get install libapr1-dev libaprutil1-dev libbz2-dev python-dev libgtest-dev python-paramiko libboost-all-dev liblog4cxx10-dev pkg-config python-empy swig python-nose lsb-release python-wxgtk2.8 python-gtk2 python-matplotlib libwxgtk2.8-dev python-imaging libqt4-dev graphviz qt4-qmake python-numpy libtiff4-dev libpoco-dev assimp-utils libtinyxml-dev python-pydot python-qwt5-qt4 libxml2-dev libsdl-image1.2-dev bison++ automake autoconf -y

Catkin Setup

Make workspace:

$ sudo mkdir -p /opt/ros/groovy/catkin_ws
$ cd /opt/ros/groovy/catkin_ws

Initialize workspace with ROS desktop distribution:

$ sudo wstool init src -j4 http://packages.ros.org/web/rosinstall/generate/raw/groovy/desktop

Add swig-wx to workspace:

$ cd src
$ sudo wstool set swig-wx https://github.com/ros/swig-wx.git --git -y ; sudo wstool update swig-wx
$ cd ..

Install ROS Package dependencies

Patch rosdep for linaro

First, place this repo(ros-linaro-build) in your $HOME.

$ git clone https://github.com/andrewjchen/ros-linaro-build.git

Patch rosdep for Linaro support:

$ cd /usr/share/pyshared/rospkg/
$ sudo patch -p0 < ~/patches/rospkg/rospkg-linaro.patch

Install ROS system dependencies via rosdep:

$ https://github.com/andrewjchen/ros-linaro-build.git
$ rosdep install --from-paths src --ignore-src --rosdistro groovy -yr

Yaml-cpp

Building yaml-cpp via repo

$ echo "deb http://ppa.launchpad.net/stephane.magnenat/precise/ubuntu precise main" | sudo tee -a /etc/apt/sources.list
$ echo "deb-src http://ppa.launchpad.net/stephane.magnenat/precise/ubuntu precise main" | sudo tee -a /etc/apt/sources.list
$ sudo apt-get update; sudo apt-get upgrade -y
$ sudo apt-get build-dep yaml-cpp
$ mkdir -p ~/fix/yaml-cpp
$ cd ~/fix/yaml-cpp
$ sudo apt-get source yaml-cpp
$ cd yaml-cpp-0.2.6
$ sudo dpkg-buildpackage -us -uc -nc
$ cd ..
$ sudo dpkg -i *.deb

Build yaml-cpp dummy package

$ mkdir -p ~/fix/yaml-cpp/
$ cp ~/ros-linaro-build/yaml-cpp/yaml-cpp ~/fix/yaml-cpp/yaml-cpp
$ cd ~/fix/yaml-cpp
$ sudo apt-get install equivs -y
$ equivs-build yaml-cpp
$ sudo dpkg -i yaml-cpp_1.0_all.deb

tbb-dev

Download and build patched tbb-dev:

$ sudo mkdir -p /opt/intel/libtbb-dev
$ cd /opt/intel/libtbb-dev
$ sudo wget http://threadingbuildingblocks.org/sites/default/files/software_releases/source/tbb40_20120613oss_src.tgz
$ sudo tar xzvf tbb40_20120613oss_src.tgz
$ cd tbb40_20120613oss
$ sudo patch -p1 < ~/ros-linaro-build/tbb-dev/tbb40_20120613oss-0001-Endianness.patch
$ sudo patch -p1 < ~/ros-linaro-build/tbb-dev/tbb40_20120613oss-0002-ARM-support.patch
$ sudo patch -p1 < ~/ros-linaro-build/tbb-dev/tbb40_20120613oss-0003-Add-machine_fetchadd-48-intrinsics.patch
$ sudo make -j4
$ echo "source /opt/intel/libtbb-dev/tbb40_20120613oss/build/linux_armv7_gcc_cc4.6_libc2.15_kernel3.0.60_release/tbbvars.sh" >> ~/.bashrc

Build tbb-dev dummy package:

$ mkdir -p ~/fix/tbb-dev/
$ cp ~/ros-linaro-build/tbb-dev/libtbb-dev ~/fix/tbb-dev/libtbb-dev
$ cd ~/fix/tbb-dev
$ sudo apt-get install equivs -y
$ equivs-build libtbb-dev
$ sudo dpkg -i libtbb-dev_1.0_all.deb

Collada-dom

$ cd /opt
$ wget http://sourceforge.net/projects/collada-dom/files/latest/download
$ tar xf download
$ cd collada-dom-2.4.0
$ cmake .
$ sudo make install -j4

flann

$ cd /opt
$ wget http://people.cs.ubc.ca/~mariusm/uploads/FLANN/flann-1.8.4-src.zip
$ unzip flann*
$ mkdir build
$ cd build
$ cmake ..
$ sudo make install -j4

pcl

Remove unsupported packages

$ cd /opt/ros/groovy/catkin_ws/src
$ sudo rm -rf */
$ sudo patch -p0 <  ~/ros-linaro-build/ros-desktop-install/rosinstall.patch
$ sudo rosws update

rosgraph/ifaddrs.py Bug

$ cd /opt/ros/groovy/catkin_ws/src/rosgraph/src/rosgraph
$ sudo patch -p0 < ~/ros-linaro-build/rosgraph/rosgraph-ifaddrs.py.patch

Build ROS-desktop

Build Catkin packages

$ cd /opt/ros/groovy/catkin_ws
$ sudo ./src/catkin/bin/catkin_make_isolated -j1 --install

Build rosbuild packages(TODO)

$ source /opt/ros/groovy/catkin_ws/install_isolated/setup.bash
$ mkdir -p ~/rosbuild_ws
$ rosws init ~/rosbuild_ws /opt/ros/groovy/install_isolated
$ rosws merge http://packages.ros.org/web/rosinstall/generate/dry/raw/groovy/desktop
$ rosws update -j4
$ source ~/rosbuild_ws/setup.bash
$ rosmake -a

ROS user-level workspace

Catkin workspace

$ mkdir -p ~/ros_catkin_ws/src
$ source ~/rosbuild_ws/setup.bash
$ cd ~/ros_catkin_ws/src
$ wstool init

Rosbuild workspace

$ mkdir -p ~/ros_ws
$ source ~/ros_catkin_ws/install/setup.bash
$ rosws init ~/ros_ws ~/ros_catkin_ws/install

steakhouserodriguez/ros-linaro-distro