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How do I build and install ROS for an ARM64 embedded platform?

asked 2021-11-10 15:41:24 -0500

vrollinger
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How do I build and install ROS for an ARM64 embedded platform?

I followed the instructions as best I could on http://wiki.ros.org/hydro/Installatio.... Doing exactly what they said produced many thousands of errors. I took my best shot at correcting the errors.

The version of ROS I want to build is Melodic.

I used the following line in local.conf

MACHINE ?= "qemuarm64"

I had the following lines in bblayers.conf:

BBLAYERS ?= " \ /home/vrollinger/devel/openembedded-core/meta \ /home/vrollinger/devel/meta-openembedded/meta-oe \ /home/vrollinger/devel/meta-openembedded/meta-python \ /home/vrollinger/devel/meta-python2 \ /home/vrollinger/devel/meta-ros/meta-ros1 \ /home/vrollinger/devel/meta-ros/meta-ros-common \ /home/vrollinger/devel/meta-ros/meta-ros-python2 \ /home/vrollinger/devel/meta-ros/meta-ros1-melodic \ "

Doing "bitbake core-image-ros-roscore" produces "ERROR: Nothing PROVIDES 'core-image-ros-roscore'."

I was able to do "bitbake <module>" on the following modules:

message_filters, rosbag, rosbag-storage, ros-comm, roscpp, rosgraph, roslaunch, roslz4, rosmaster, rosmsg, rosnode, rosout, rosparam, rospy, rosservice, rostest, rostopic, roswtf, topic-tools, xmlrpcpp

I tried copying the various "/opt/ros/melodic" directories to the embedded platform. I also tried installing the various *.ipk packages the were produced. Nothing worked. For example, if I log on to the embedded platform and enter "source /opt/ros/melodic/setup.bash" followed by "roscore", I get the error message "ImportError: No module named defusedxml.xmlrpc". I can't find a file by that name anywhere.

I am at a complete loss at this point. Can anyone give me advice about what to do?

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The tutorial looks like an old link. Have you checked this repo: https://github.com/ros/meta-ros/wiki/...

osilva ( 2021-11-10 20:31:56 -0500 )edit

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answered 2021-11-11 01:38:00 -0500

gvdhoorn
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updated 2021-11-11 01:39:53 -0500

I followed the instructions as best I could on http://wiki.ros.org/hydro/Installatio....

It may not be obvious to newcomers, but Hydro has been EOL since 2015 (see wiki/Distributions).

The version of ROS I want to build is Melodic.

Using a Hydro tutorial for a Melodic version of ROS is not going to work.

I would suggest to look at either ros/meta-ros (as linked by @osilva ), or something like ros-tooling/cross_compile.

meta-ros probably works best if you're already familiar with Yocto. ros-tooling/cross_compile uses a different approach.

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Asked: 2021-11-10 15:41:24 -0500

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Last updated: Nov 11 '21

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