# How to play with the codebase? Documentation is at https://index.ros.org/doc/ros2/ ## Get the vcs tool sudo apt-get install python3-vcstool ## Get the codebase from ros2.repos mkdir src vcs import src < ros2.repos ## Update with upstream vcs custom src --git --args pull ## Retrive diff or status vcs diff src vcs status src OR vcs custom src --git --args diff vcs custom src --git --args status vcs custom src --git --args status -s ## Discard all changes and delete vcs custom src --git --args reset --hard HEAD # Ignore these packages touch src/ros-visualization/qt_gui_core/COLCON_IGNORE touch src/ros-visualization/rqt/COLCON_IGNORE touch src/ros/resource_retriever/COLCON_IGNORE touch src/ros2/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE touch src/ros2/rviz/COLCON_IGNORE # How to build on x86 or xavier? # How to cross compile using docker image? docker run -it --rm -v `pwd`:/root/build_ws/ reg.docker.alibaba-inc.com/etlab_hpc/ros2_cross_compile:compiler ## Link all libraries created by ros2 into sysroot, or ld binutils can't find them when prefix sysroot to rpath in library table mkdir install/lib mkdir /system_dep_himix/xrobot ln -s /root/build_ws/install/lib /system_dep_himix/xrobot/ ## Modify /system_dep_himix/etc/ld.so.conf as below /xrobot/lib /usr/local/lib /usr/local/lib/aarch64-linux-gnu /lib/aarch64-linux-gnu /usr/lib/aarch64-linux-gnu