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Packaging ROS for yocto or OpenEmbedded (using bitbake recipes)

asked 2012-11-19 05:11:21 -0600

Lukas Bulwahn gravatar image

updated 2014-01-28 17:14:18 -0600

ngrennan gravatar image


we are interested in setting up a computing platform for our development using linux with yocto (or OpenEmbedded-Core) and the robotic operating system ROS. We are currently at the very beginning of this development: As a first step, we want to package ROS for our own needs, but we are open to contribute this to the community if there are others that need this as well.

Has someone in the community already packaged ROS for yocto or OpenEmbedded? Are there others that also interested in a ROS package for yocto or OpenEmbedded?

We are happy about any feedback.

Lukas Bulwahn

BMW Car IT GmbH Petuelring 116 D-80809 Muenchen Germany

BMW Car IT GmbH Geschäftsführer: Harald Heinecke Sitz und Registergericht: München HRB134810

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3 Answers

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answered 2012-12-06 08:40:55 -0600

Mani gravatar image

updated 2014-01-14 20:24:06 -0600

tfoote gravatar image

Updated answer:

Lukas has successfully achieved cross-compiling ROS documentation is here:

Previous Answer:

I tried about a year ago to compile barebone ROS diamondback/electric on a Gumstix Overo board running OpenEmbedded Linux. But it failed. I tried every method possible , cross-compiling using oe tools or even native compiling. I even tried to compile apt for oe then use ROS arm repositories, but it failed as well. I also tried using arm emulators like qemu. The only method that I did not try was using eros because of the lack of documentation back then.

I would not recommend any of above methods except eros based cross compiling to start.

For my own project, I cross-compiled a JSON RPC library for oe to export robot functionalities via JSON RPC. That was enough for our project. However, it is easy to wrap a ROS node (not running on the robot) over the RPC client.

Direct Method:

Robot HW:Low Level Drivers:ROS Driver <-- Wifi --> ROS Clients

Indirect Method

Robot HW:Low Level Drivers:Low overhead Server <-- Wifi -->Low overhead client:ROS Driver:ROS Clients

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answered 2013-01-23 05:56:41 -0600

ErleRobot gravatar image

Is there any update on this matter? I'm using an ARM9 (OMAP L138) processor and trying to follow the eros tutorials to include but they seem incomplete as Mani mentioned.

I'm currently stucked at Preparing/running on the embedded board.

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There is a recent thread on ros-users mailing list in which people shared their stories about ROS and ARM. Thay may help:

Mani gravatar image Mani  ( 2013-01-23 06:14:24 -0600 )edit

answered 2012-12-06 08:33:05 -0600

Erwin Lopez gravatar image

We are interested for embedded development in custom and multi core robotic platforms.

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Asked: 2012-11-19 05:11:21 -0600

Seen: 3,312 times

Last updated: Jan 14 '14