Error meta-ros layer using Yocto Project

Cássio Volcan

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Sep 27, 2013, 1:36:33 PM9/27/13

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Hello,

I'm trying to use meta-ros layer and yocto project to my board (http://www.opencontroller.com/modules.html - with a sama5d3 processor)

Let me show you what I'am doing:

1/ Clone yocto/poky git repository

git clone git://git.yoctoproject.org/poky

2/ Checkout dylan-9.0.1 tag

cd poky

git checkout dylan-9.0.1 -b my_branch

3/ Clone meta-atmel layer

git clone http://github.com/linux4sam/meta-atmel

4/ Initialize build directory

source oe-init-build-env build-atmel

5/ Add meta-atmel layer patch to bblayer configuration file
vim conf/bblayers.conf:

# LAYER_CONF_VERSION is increased each time build/conf/bblayers.conf
# changes incompatibly
LCONF_VERSION = "6"

BBPATH = "${TOPDIR}"
BBFILES ?= ""

BBLAYERS ?= " \
/home/cassio/projetos/my_poky/meta-atmel \
/home/cassio/projetos/my_poky/meta \
/home/cassio/projetos/my_poky/meta-yocto \
/home/cassio/projetos/my_poky/meta-yocto-bsp \
/home/cassio/projetos/my_poky/meta-ros \
"
BBLAYERS_NON_REMOVABLE ?= " \
/home/cassio/projetos/my_poky/meta \
/home/cassio/projetos/my_poky/meta-yocto \
"

5/ Edit local.conf to specify the machine, location of source archived, package type (rpm, deb or ipk)

vim conf/local.conf:

[...]

MACHINE ??= "sama5d3xek"

[...]

DL_DIR ?= "default path"

[...]

PACKAGE_CLASSES ?= "package_ipk"

6/ Build core minimal image

bitbake core-image-ros-roscore

So, this error appears:

cassio@Ubuntu12:~/projetos/my_poky/build-atmel$ bitbake core-image-ros-roscore
Loading cache: 100% |#########################################################################################################################| ETA: 00:00:00
Loaded 1240 entries from dependency cache.
Parsing recipes: 100% |#######################################################################################################################| Time: 00:00:11
Parsing of 928 .bb files complete (925 cached, 3 parsed). 1242 targets, 40 skipped, 0 masked, 0 errors.
ERROR: No recipes available for:
/home/cassio/projetos/my_poky/meta-ros/recipes-devtools/python/python-nose_1.2.1.bbappend
/home/cassio/projetos/my_poky/meta-ros/recipes-support/boost/boost_1.54.0.bbappend
ERROR: Command execution failed: Exited with 1

Summary: There were 2 ERROR messages shown, returning a non-zero exit code.

Some idea to fix that?

Thanks.

Lukas Bulwahn

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Sep 30, 2013, 1:27:42 AM9/30/13

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On 09/27/2013 07:36 PM, Cássio Volcan wrote:

Hello,

I'm trying to use meta-ros layer and yocto project to my board (http://www.opencontroller.com/modules.html - with a sama5d3 processor)

Dear Cassio,

Nice to see meta-ros on some more hardware --- tell us how you get along and if it works with your board.

6/ Build core minimal image

bitbake core-image-ros-roscore

So, this error appears:

cassio@Ubuntu12:~/projetos/my_poky/build-atmel$ bitbake core-image-ros-roscore
Loading cache: 100% |#########################################################################################################################| ETA: 00:00:00
Loaded 1240 entries from dependency cache.
Parsing recipes: 100% |#######################################################################################################################| Time: 00:00:11
Parsing of 928 .bb files complete (925 cached, 3 parsed). 1242 targets, 40 skipped, 0 masked, 0 errors.
ERROR: No recipes available for:
/home/cassio/projetos/my_poky/meta-ros/recipes-devtools/python/python-nose_1.2.1.bbappend
/home/cassio/projetos/my_poky/meta-ros/recipes-support/boost/boost_1.54.0.bbappend
ERROR: Command execution failed: Exited with 1

Summary: There were 2 ERROR messages shown, returning a non-zero exit code.

Some idea to fix that?

The first error "No recipe available for python-nose" is because you have not added the meta-oe layer.
The meta-oe layer is in the directory meta-oe in the git repository at git://git.openembedded.org/meta-openembedded/

The second error "No recipe available for boost_1.54.0.bbappend" is because poky-dylan still provides boost version 1.53, but openembedded-core is already updated to 1.54.0 (and is the version I developed against).
If you do not need the image-transport-plugins, you can simply delete meta-ros/recipes-support/boost/boost_1.54.0.bbappend and everything (but the image-transport-plugins) works fine.

Lukas

Cássio Volcan

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Oct 9, 2013, 9:58:31 AM10/9/13

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Dear Lukas, thank you veru much.

After doing my BSP and solve some bugs, roscore is working on my board :)

if everyone has the same problem to connect localhost to run roscore I suggest to increase the _TIMEOUT_MASTER_START from python2.7/site-packages/roslaunch/launch.py, because I get some errors and lost a lot of time to solve it.

I'm attempting to use the simple Publisher and Subscriber example from ros wiki, but I have no rosrun, rosmake and rostopic too, for example.

Another issue: have been you noticed if someone use meta-ros running slam gmapping?

Thank you again.

Regards

Cássio

Lukas Bulwahn

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Oct 9, 2013, 10:59:34 AM10/9/13

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On 10/09/2013 03:58 PM, Cássio Volcan wrote:

Dear Lukas, thank you veru much.

After doing my BSP and solve some bugs, roscore is working on my board :)

if everyone has the same problem to connect localhost to run roscore I suggest to increase the _TIMEOUT_MASTER_START from python2.7/site-packages/roslaunch/launch.py, because I get some errors and lost a lot of time to solve it.

Dear Cassio,

Could you give more details what kind of problem occurred (what was the error trace? what was the behavior? what was your setup?) and how did you fix that concretely.

I'm attempting to use the simple Publisher and Subscriber example from ros wiki, but I have no rosrun, rosmake and rostopic too, for example.

Another issue: have been you noticed if someone use meta-ros running slam gmapping?

Nobody is using slam_gmapping yet, but I had an initial look at it and I believe it should be quite simple to provide recipes for that. (there were no obvious showstoppers.)

You simply need a recipe for openslam_gmapping and then a recipe for gmapping in the slam_gmapping repository and you are done. We already provide a recipe for tf, nav_msgs and roscpp.

Maybe, Victor Mayoral can help you with writing a bitbake recipe---he has already some experience with that.

Lukas

Víctor Mayoral

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Oct 9, 2013, 11:06:38 AM10/9/13

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Cássio i've been coding recipes this summer so i'm glad to give you a hand.

Start taking a look at diving-meta-ros and come to me if you find any trouble while writting the recipes for openslam_gmapping.

Regards,

Cássio Volcan

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Oct 10, 2013, 7:43:51 AM10/10/13

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Dear Lukas and Víctor

Error ocurred when I tried to run roscore. The process could not contact master, as can be seen below:

root@at91sam9x5ek:~# roscore
... logging to /home/root/.ros/log/412f3d34-3103-11e3-b9d9-5162d3e8cd9f/roslaunch-at91sam9x5ek-856.log

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

2;roscore
started roslaunch server http://at91sam9x5ek:34199/

ros_comm version 1.9.49

SUMMARY
========

PARAMETERS

* /rosdistro
* /rosversion

NODES

auto-starting new master

process[master]: started with pid [873]
ERROR: could not contact master [http://at91sam9x5ek:11311/]

[master] killing on exit
Traceback (most recent call last):

File "/usr/bin/rosmaster", line 35, in <module>
rosmaster.rosmaster_main()
File "/usr/lib/python2.7/site-packages/rosmaster/main.py", line 73, in rosmaster_main

configure_logging()
File "/usr/lib/python2.7/site-packages/rosmaster/main.py", line 57, in configure_logging

_log_filename = rosgraph.roslogging.configure_logging('rosmaster', logging.DEBUG, filename=filename)

File "/usr/lib/python2.7/site-packages/rosgraph/roslogging.py", line 106, in configure_logging

logging.config.fileConfig(config_file, disable_existing_loggers=False)

File "/usr/lib/python2.7/logging/config.py", line 78, in fileConfig
handlers = _install_handlers(cp, formatters)
File "/usr/lib/python2.7/logging/config.py", line 156, in _install_handlers

h = klass(*args)
File "/usr/lib/python2.7/site-packages/rosgraph/roslogging.py", line 146, in __init__

from rospy.rostime import get_time, is_wallclock
File "/usr/lib/python2.7/site-packages/rospy/__init__.py", line 49, in <module>
from .client import spin, myargv, init_node, \

File "/usr/lib/python2.7/site-packages/rospy/client.py", line 51, in <module>

import roslib
File "/usr/lib/python2.7/site-packages/roslib/__init__.py", line 54, in <module>

import roslib.stacks
File "/usr/lib/python2.7/site-packages/roslib/stacks.py", line 46, in <module>

import roslib.packages
File "/usr/lib/python2.7/site-packages/roslib/packages.py", line 47, in <module>

from subprocess import Popen, PIPE
File "/usr/lib/python2.7/subprocess.py", line 432, in <module>

import pickle
File "/usr/lib/python2.7/pickle.py", line 165, in <module>

__all__.extend([x for x in dir() if re.match("[A-Z][A-Z0-9_]+$",x)])

File "/usr/lib/python2.7/re.py", line 137, in match
return _compile(pattern, flags).match(string)

File "/usr/lib/python2.7/re.py", line 228, in _compile
cachekey = (type(key[0]),) + key
KeyboardInterrupt

So I fixed the error increasing the _TIMEOUT_MASTER_START = 10.0 #seconds from python2.7/site-packages/roslaunch/launch.py to 15.0 seconds.

About the rosrun and rostopic, how can I run some executable like Publisher and Subscriber example without it? Either am I doing something wrong? I've done bitbake core-image-ros-roscore, but there is no rosrun and rostopic, for example. Have you done recipes for that on meta-ros?

I was taking a look on Víctor's tutorials and attempt do provide a recipe from my issues, but I have no "opkg install *.ipkg" on my board. I was reading how to bitbake some image to be able to use that, but I do not have answers yet

Thank you for answers.

PS: With someone need any help to provide a BSP and kernel configurations to use meta-ros on arm processors, please let me try to help.

Regards,

2013/10/9 Víctor Mayoral <v.may...@gmail.com>

--

Cássio Volcan Pio
Computer Engineer

Control and Automation Engineering major -- FURG

Embedded Systems Developer -- GARTEN Engenharia

www.garten.com.br

NAUTEC - Automation and Intelligent Robotics Group -- FURG

Federal University of Rio Grande -- FURG

+55(53) 9101-1526

Víctor Mayoral

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Oct 10, 2013, 8:02:53 AM10/10/13

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Dear Cássio,

rosrun is part of the rosbash suite whereas rostopic is part of the ros_comm. You can find the recipes here and here inside of the meta-ros layer source tree. Try bitbaking these recipes and deploying the package to your machine. You should have access to these utilities then.

Furthermore, you don't need rosrun to launch a simple publisher-subscriber example (e.g. chatter). You can launch it running the executable or the script if it's written in python.

I was taking a look on Víctor's tutorials and attempt do provide a recipe from my issues, but I have no "opkg install *.ipkg" on my board. I was reading how to bitbake some image to be able to use that, but I do not have answers yet

Even if your FS is not Angstrom your OE installation should package the cross-compiled recipes in way that you could deploy them to your machine. I'm not so experienced out of Angstrom so maybe Lukas or Stefan can provide some comments regarding this fact.

Lukas Bulwahn

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Oct 11, 2013, 1:39:46 AM10/11/13

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Dear Cassio,

the problem you report looks very similar to Issue 62 [1], which I reported a couple months ago.
This timeout on start up would also explain why the KeyboardInterrupt nondeterministically occurs at different code locations and sometimes occurs not at all.

I will try out your suggestion to see if it also resolves the issue that I reported on the qemu virtual machine.

Thanks for reporting the problem and the solution to it.

To your second point:

The "core-image-ros-roscore" image only provides the packages to start and run roscore.

However, if you have a look at the core-image-ros-roscore.bb file, you can extend that image simply by adding more packages, e.g., rosrun, rosbash and your own ROS packages, to IMAGE_INSTALL.

Then your image should have those packages installed as well. Please report if some of them still have missing runtime dependencies. We have not tested all of the ROS packages in isolation and might have missing some dependencies.

Lukas

[1] https://github.com/bmwcarit/meta-ros/issues/62

Cássio Volcan

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Oct 25, 2013, 12:27:25 PM10/25/13

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Hi,

I'm glad to say that the ros packages I've tried (roscpp_tutorials, ros-comm, chatter and all this communicate very well with other machines) are totally working on my (Arm) board. Thanks so much for the help until now.

So my next step is to record data from Sick LMS 2xx, 5xx and 1xx and provide a map by it.

I was taking a look at [1] and attempting to understand how I would set parameters to it, but I'm not sure about it, yet. Because I keep not able to create a new recipe with my own changes on code, like here [2] even trying to use the Víctor's Tutorials [3]. Any advice?

I was also trying to create a sicktoolbox and sicktoolbox_wrapper [4][5][6] recipes, but It is not working until now. Someone thought to create it?

Please, take a look on my sicktoolbox_git.bb (just trying to create a recipe to LMS1xx [7]):

DESCRIPTION = "Laser drivers for Hokuyo and SICK laser rangefinders."

SECTION = "devel"

LICENSE = "TODO"

LIC_FILES_CHKSUM = "file://package.xml;beginline=16;endline=16;md5=2feaf30a620f46f06a4b016624acf46f"

SRC_URI[md5sum] ="7e8b0cf12770756baff4aec8ed7958df"

DEPENDS = "roscpp roscpp-serialization sensor-msgs"

SRC_URI = "https://github.com/clubcapra/LMS1xx/archive/master.zip"

SRCREV = "${AUTOREV}"

S = "${WORKDIR}/git"

inherit catkin

And this errors appears:

cassio@cassio-Ubuntu:~/projetos/my_poky/build-atmel$ bitbake sicktoolbox

Loading cache: 100% |##############################################| ETA: 00:00:00

Loaded 1908 entries from dependency cache.

Parsing recipes: 100% |############################################| Time: 00:00:01

Parsing of 1461 .bb files complete (1457 cached, 4 parsed). 1867 targets, 45 skipped, 0 masked, 0 errors.

NOTE: Resolving any missing task queue dependencies

Build Configuration:

BB_VERSION = "1.21.0"

BUILD_SYS = "x86_64-linux"

NATIVELSBSTRING = "Ubuntu-12.04"

TARGET_SYS = "arm-poky-linux-gnueabi"

MACHINE = "at91sam9x5ek"

DISTRO = "poky"

DISTRO_VERSION = "1.5+snapshot-20131025"

TUNE_FEATURES = "armv5 thumb dsp arm926ejs"

TARGET_FPU = "soft"

meta-atmel = "master:cf93c5213df976be11416a2857e62738175f8f04"

Lukas Bulwahn

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Oct 25, 2013, 2:44:46 PM10/25/13

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Dear Cassio,

On 10/25/2013 06:27 PM, Cássio Volcan wrote:
>
> Sorry about so many question in a simple post.
>

Please try better to "write for maximum efficiency of reading" [3] on
this mailing list. Various projects [1, 2, 3] have defined guidelines
and rules for efficient communication on project mailing lists, so try
to follow those as far as possible. We have not set up any concrete
guidelines for this mailing list, and I consider it unnecessary to do
so. Nevertheless, following the general guidelines for mailing lists is
indispensable.

When you have split the different questions to separate emails with
distinct subject lines and precise questions, I am happy to help you as
much as I can, and I am sure other readers will then join the
conversions that they are interested in.

Yours sincerely,

Lukas

[1] http://fedoraproject.org/wiki/Mailing_list_guidelines
[2] https://www.freebsd.org/doc/en/articles/mailing-list-faq/etiquette.html
[3] http://www.tux.org/lkml/

Lukas Bulwahn

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Oct 25, 2013, 2:50:32 PM10/25/13

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On 10/25/2013 08:44 PM, Lukas Bulwahn wrote:
> [...] I am sure other readers will then join the conversions that they
> are interested in.
With "conversions", I meant "conversations", of course.

Lukas

Víctor Mayoral

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Oct 25, 2013, 5:30:49 PM10/25/13

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Cassio,

It looks to me like there's something missing in your CMakeLists.txt. I miss the install(...) after this line.

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