在 Gumstix overo 上获取我自己的 ROS 包（Bitbake yocto 项目）

Question

我正在尝试让我自己的 ROS 包在 Gumstix Overo 上工作。该项目的最终目标是从 Caspa（相机）获取图像并使用 ROS 进行流式传输。为此，我在 Yocto 项目中取得了最大的成功：Pocky，它使用了 BitBake 交叉编译工具链。为此，我遵循了 GitHub 存储库中 README.md 中的说明：https://github.com/gumstix/Gumstix-YoctoProject-Repo

仅供参考，Gumstix 官方网站上的实际刷写和安装说明更清楚。

我使用以下命令成功编译了包含所有 ROS 元数据和附加内容的 BitBake 项目：

$ bitbake gumstix-console-image 

（需要相当长的时间和大量的磁盘空间），然后是刷新和安装。

这是我试图编译的包：https://github.com/elikos/groundStationPublic 我试图保持文件夹尽可能简单以限制潜在的路径问题，所以一切都在基本目录中......（我知道非常丑陋）

这是我的 CMakelist.txt：

cmake_minimum_required(VERSION 2.8.3)
project(groundStationPublic)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport roscpp rospy std_msgs genmsg)

find_package(OpenCV REQUIRED)

## Declare ROS messages and services
#add_message_files(FILES Num.msg)
#add_service_files(FILES AddTwoInts.srv)

## Generate added messages and services
#generate_messages(DEPENDENCIES std_msgs)

## Declare a catkin package
catkin_package()

include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})

add_executable(talker talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
#add_dependencies(talker beginner_tutorials_generate_messages_cpp)

add_executable(listener listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
#add_dependencies(listener beginner_tutorials_generate_messages_cpp)

add_executable(cornerDetection main.cpp ConerDetection.cpp LineDetection.cpp ImagePublisher.cpp)
target_link_libraries(cornerDetection ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

add_executable(bonPublisher bonPublisher.cpp)
target_link_libraries(bonPublisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

这是我的 BitBake 包装配方：

DESCRIPTION = "Elikos groundstation code."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"

DEPENDS = "roscpp rospy catkin std-msgs"
RDEPENDS_${PN} = "roscpp rospy std-msgs"

SRC_URI = "git://github.com/elikos/groundStationPublic.git"

SRCREV = "${AUTOREV}"
PV = "1.0.0+gitr${SRCPV}"

S = "${WORKDIR}/git"

inherit catkin

ROS_SPN = "groundStationPublic"

我已在~/yocto/poky/meta-ros/recipes-ros/groundStationPublic找到它

如果我执行命令bitbake groundStationPublic，一切编译正常。没有错误。 （你可能会从 x264_git 得到一个错误，但正确的 sourcerev 是：SRCREV = "ffc3ad4945da69f3caa2b40e4eed715a9a8d9526"）

最后，我的问题是：

• 我的包裹在图片中的位置？
  • 它不在 /usr/share/ 中，就像我期望的那样......
• 如果 rosrun 找不到我的包，我该如何运行它？ （可能是因为它根本不存在）
  • 我希望它类似于rosrun groundStationPublic talker

Answer 1

嗯，终于找到了我自己的问题的答案：

我必须像 ~/yocto/poky/meta-gumstix-extras/recipies-images/gumstix/gumstix-consol-image.bb 那样在图片中添加我的包裹：

UTILITIES_INSTALL = " \
  [...]
  packagegroup-ros-comm \
  python-wstool \
  python-email \
  python-distutils \
  git \
  git-perltools \
  python-rosinstall \
  rospy-tutorials \
  roscpp-tutorials \
  groundStationPublic \
  [...]
"

并确保将 UTILITIES_INSTALL 添加到：

IMAGE_INSTALL += " \
  [...]
  ${UTILITIES_INSTALL} \
  [...]
"

我还必须更改 CMakelist.txt 以明确告诉它安装目标的位置，所以这是新的 CMakelist.txt（注意最后几行的差异）：

cmake_minimum_required(VERSION 2.8.3)
project(groundStationPublic)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport roscpp rospy std_msgs genmsg)

find_package(OpenCV REQUIRED)

## Declare ROS messages and services
#add_message_files(FILES Num.msg)
#add_service_files(FILES AddTwoInts.srv)

## Generate added messages and services
#generate_messages(DEPENDENCIES std_msgs)

## Declare a catkin package
catkin_package()

include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
#add_dependencies(talker beginner_tutorials_generate_messages_cpp)

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
#add_dependencies(listener beginner_tutorials_generate_messages_cpp)

add_executable(cornerDetection src/main.cpp src/ConerDetection.cpp src/LineDetection.cpp src/ImagePublisher.cpp)
target_link_libraries(cornerDetection ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

add_executable(bonPublisher src/bonPublisher.cpp)
target_link_libraries(bonPublisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

add_executable(exempleSubscriber src/exempleSubscriber.cpp)
target_link_libraries(exempleSubscriber ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

install(TARGETS talker listener cornerDetection bonPublisher exempleSubscriber
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

不幸的是，我目前遇到了无法从 caspa（来自 /dev/video6）读取图像的 opencv 问题...但这是另一个问题！