Adjustments for enhancing sysroot with ROS 2

Signed-off-by: Víctor Mayoral Vilches <[email protected]>

CHANGELOG.rst

@@ -2,6 +2,8 @@
 Changelog for package acceleration_firmware_kr260
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-1.0.0 (2022-06-27)
+v1.0.0 (2022-06-28)
 -------------------
+* Adjustments for enhancing sysroot with ROS 2
 * Create kr260 ROS mixins, leverage Ubuntu 22.04 sysroot
+* Initial commit

CMakeLists.txt

@@ -53,6 +53,15 @@ if (NOT EXISTS ${FIRMWARE_DIR})
     DESTINATION
       ${FIRMWARE_DIR}
   )
+
+  # Deploy also patches for firmware and related scripts
+  #
+  install(
+    DIRECTORY
+      patches/
+    DESTINATION
+      ${FIRMWARE_DIR}/patches
+  )  
 endif()  # NOT EXISTS ${FIRMWARE_DIR}
 
 # NOTE:
@@ -76,8 +85,8 @@ install(
     ${CMAKE_BINARY_DIR}
 )
 install(SCRIPT "${CMAKE_SOURCE_DIR}/cmake/generate_mixin.cmake")
+install(SCRIPT "${CMAKE_SOURCE_DIR}/cmake/ros2_cross.cmake")
 install(SCRIPT "${CMAKE_SOURCE_DIR}/cmake/colcon_ignore.cmake")
 
-
 # kept so that other packages can depend on it
 ament_package()

cmake/ros2_cross.cmake

@@ -0,0 +1,18 @@
+# Copyright (c) 2022, Acceleration Robotics
+# Author: Víctor Mayoral Vilches <[email protected]>
+#
+# Install ROS 2 and related dependencies inside of the sysroot 
+#  for simplified cross-compilation flows
+
+message(STATUS "Preparing sysroot for ROS 2 cross-compilation")
+set(CUSTOMIZESHSCRIPT ${FIRMWARE_DIR}/sysroots/bin/customize.sh)
+set(PATCH ${FIRMWARE_DIR}/patches/customize.patch)
+set(SYSROOTPATH ${FIRMWARE_DIR}/sysroots/aarch64-xilinx-linux)
+
+# apply patch
+run("${TESTFIRMWARE} patch ${CUSTOMIZESHSCRIPT} ${PATCH}")
+
+# install ROS 2, LTTng and net-tools inside of the sysroot
+run("${TESTFIRMWARE} sudo ${CUSTOMIZESHSCRIPT} ${SYSROOTPATH} jammy http://packages.ros.org/ros2/ubuntu '' net-tools > /dev/null")
+
+message(STATUS "Sysroot cooked for cross-compilation.")

cmake/sysroot.cmake

@@ -5,8 +5,9 @@
 
 message(STATUS "Deploying sysroot")
 set(TARGET_SYSROOT_DIR ${FIRMWARE_DIR}/sysroots/aarch64-xilinx-linux)
+set(SYSROOTNAME "iot-limerick-kria-classic-desktop-2204-x06-20220614-78-sysroot.tar.xz")
 
 # extract sysroot and scripts
-run("${TESTFIRMWARE} tar -xf ${FIRMWARE_DIR}/iot-limerick-kria-classic-desktop-2204-x04-20220517-68-sysroot.tar.xz -C ${FIRMWARE_DIR}")
+run("${TESTFIRMWARE} tar -xf ${FIRMWARE_DIR}/${SYSROOTNAME} -C ${FIRMWARE_DIR}")
 
 message(STATUS "Ubuntu sysroot deployed.")

patches/customize.patch

@@ -0,0 +1,62 @@
+--- customize.sh.orig	2022-06-28 10:08:17.044428956 +0200
++++ customize.sh	2022-06-28 10:12:18.120721347 +0200
+@@ -46,6 +46,49 @@
+                  LC_ALL=C sort -r)
+ }
+
++# Installs ROS 2 Humble
++install_ros2_humble()
++# $1: suite
++{
++    local sources="deb [arch=arm64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $1 main"
++    local setup_pkgs=(
++       software-properties-common
++	curl
++	gnupg
++	lsb-release
++    )
++    local key_hash=C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
++    local pkgs=(
++        ros-humble-desktop ros-humble-image-common
++    )
++
++    # get key from Open Robotics
++    local opts='--no-install-recommends -y'
++    chroot . apt update
++    chroot . sh -c "DEBIAN_FRONTEND=noninteractive apt install $opts ${setup_pkgs[*]}"
++    chroot . sh -c "curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg"
++
++    printf "%s\n" "$sources" >> etc/apt/sources.list.d/devel.list
++    chroot . apt update
++    chroot . sh -c "DEBIAN_FRONTEND=noninteractive apt install $opts ${pkgs[*]}"
++    rm etc/apt/sources.list.d/devel.list
++    chroot . apt update
++}
++
++# Install the Linux Tracing Toolkit next generation (LTTng)
++install_lttng()
++{
++    local pkgs=(
++	liblttng-ust-dev 
++	python3-lttng 
++	lttng-tools
++    )
++    local opts='--no-install-recommends -y'
++    pkgs+=("$@")
++    chroot . apt update
++    chroot . sh -c "DEBIAN_FRONTEND=noninteractive apt install $opts ${pkgs[*]}"
++}
++
+ # Installs a list of packages.
+ # $1..$#: Additional packages can be specified as arguments
+ install_packages()
+@@ -219,6 +262,9 @@
+ prepare_chroot
+ # TODO there is no gstreamer jammy release yet
+ #install_xilinx_gstreamer "$suite"
++install_ros2_humble "$suite"
++install_lttng
++
+ if [ "$ppa_src" == "public" ]; then
+     install_packages "$@" "${pkgs_in_private_archive[@]}"
+ else

scripts/kr260.mixin.template

@@ -4,7 +4,7 @@ build:
       - "-DCMAKE_SYSTEM_NAME=Linux"
       - "-DCMAKE_SYSTEM_VERSION=1"
       - "-DCMAKE_SYSTEM_PROCESSOR=aarch64"
-      - "-CMAKE_LIBRARY_ARCHITECTURE=aarch64-linux-gnu"
+      - "-DCMAKE_LIBRARY_ARCHITECTURE=aarch64-linux-gnu"
       - "-DCMAKE_C_COMPILER=/usr/bin/aarch64-linux-gnu-gcc"
       - "-DCMAKE_CXX_COMPILER=/usr/bin/aarch64-linux-gnu-g++"
       - "-DCMAKE_SYSROOT=ARG1_FIRMWARE_DIR/sysroots/aarch64-xilinx-linux"