Instructions for building and installing ROS Tools from source

[bobteeter]

I have documented the process to build the basic ROS Tools that are used to build from Source Code.

I believe that I have included them all but please post if I have missed any.

There does appear to be a runtime problem with rosdep and I have filed a bug on it.

http://www.ros.org/wiki/groovy/Installation/Raspbian/Ros_Tool_Build

Bob Teeter

[mptho...@gmail.com]

Bob, pardon my ignorance, but these are .deb packages of the tools that are required to build the rest of the .deb packages for ROS groovy.  Correct?

If so, are you making these packages available in a repository?  Are these the builds that will become part of the packages from Willow for the Raspberry Pi, or will they create their own? 

Also, would it be useful if I or someone else also created Debian armel and Debian armhf (real armv7 as opposed to armv6 for Raspbian) packages?  This would be to help build up support support across Debian arm distributions which tends to be pretty dominant in embedded Linux systems.

Mike

[Paul Mathieu]

Actually, I have been fighting since last week with catkin-debs, jenkins (the CI tool that we use), to have it produce a usable set of .debs (for armel at the moment).

I should be able to make it generate a whole repo of armhf/wheezy .debs soon.

In the mean time, if you encounter any particular problem with building .deb files for Raspbian, I'll be all ears.

Paul

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[Adam Lee]

Debian armhf and armel for armv7 would be very useful :)

On Wed, Jan 30, 2013 at 7:42 AM, <mptho...@gmail.com> wrote:

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[Paul Mathieu]

My target is armv6 (notably for the RPi), but they should work fine on an armv7

Is there a benchmark out there comparing armv6 (hf) code vs armv7 code (on an armv7 system)?

[mptho...@gmail.com]

Early on we did do some comparisons with benchmarks between armv6 and armv7 and the differences integer code speed were fairly minimal.  Armv7 only having a 1% to 3% advantage.  The major factor in code speed was the underlying FPU architecture.  If I recall correctly, the Raspberry Pi FPU was nearly as fast or faster than the iMX53 FPU, even though the iMX53 is a newer, armv7 device.

Theoretically, armv6 hard float code should work perfectly fine on armv7 systems.  However, I've noticed in some of the dependent libraries that deal with threading may be missing some CPU specific operations that could cause grief on multicore armv7 systems if limited to armv6 instructions.  I think tbb may be an example of this. This is just speculation on my part though.

Mike

[Kai Franke]

I am working on a ROS benchmark for different embedded systems right now and I also found some interesting preliminary results matching your statement about FPU improvements on the RasPi. I will share more details after I run a few sanity checks.
I hope I will have more information to share at the upcoming workshop (http://wiki.osrfoundation.org/ROSforProductsWorkshop)

Kai

[bobteeter]

Part of what my effort is.  Is to add to the documentation files on how to build ROS.  The document is exactly what I did to make it work on a Raspberry PI/Raspbian system.  I had some direction on what tools to use to build and and I have documented it so that others could build binaries of the WHOLE release of ROS for their platform.

I don't have a place for a repository and have not learned how to build one yet.   But I am working toward that end of knowledge.

Bob Teeter