broomstick's profile - activity

Nope, sorry. While not ideal, the workaround was good enough for my purposes, and I've not needed to return to it since

To follow up on an earlier question from gvdhoom, our first publication involving CHERI and ROS is now public.

I would like to cross-compiling ROS2 onto a research platform with a new ABI and an extension to the RISC-V ISA. I need some help either manually building or making use of the existing cross-compile tools.

My test applications are fairly simple, and I was able to cross-compile ROS[1] applications manually (i.e., avoiding catkin) by converting them to rosserial applications. I eventually built an entire TurtleBot3 for my research platform this way (including teleop).

Now I'm looking to ROS2 for some of its real-time possibilities.

My normal cross-compile invocation for a rosserial application is something like this:

$HOME/cheri/output/sdk/bin/cheri-unknown-freebsd-clang++ \
        $SRC1 $SRC2 -o $BIN \
        -g \
        -I$HOME/ros_lib \
        -mabi=purecap \
        --sysroot=$HOME/cheri/output/sdk/sysroot128 \

I'm not sure I can get this to translate to the docker/QEMU-based cross-compile tool (https://github.com/ros-tooling/cross_...).

Is there a simpler way for me to use colcon or a recommendation for calling cmake directly?

I'm only trying to build a simple talker/listener demo at this point, so we're talking one package, two source files, and one message type.

To follow up on an earlier question from @gvdhoom, our first publication involving CHERI and ROS is now public.

Thanks. I don't have this toolchain set up at the moment, but I'll test it when I spin it back up and accept (or provid

I am writing some tests for a research version of FreeBSD. In certain configurations, I have an available library against which I want to build. In other configurations, the library doesn't exist and I need to avoid any dependency on it.

I would like to do this by making the library a conditional dependency based on an argument passed to cmake (via colcon). E.g., if I use --cmake-args -DHAS_LIBRARY=1 then it builds against the library, but otherwise ignores it.

This is fairly straightforward in my CMakeList.txt file, since I can just wrap find_package and ament_target_dependencies in conditional statements.

I don't know how to do this in the package.xml file. Further, I expect this isn't really possible and I'm going about this the wrong way entirely...

What I'd LIKE to do is wrap my <exec_depend>conditional_library_package</exec_depend> statement in a conditional (I recognise I'm mixing and matching semantics here, but it seemed the easiest way to explain what I'm hoping to do).

conditional <exec_depend> in package.xml I am writing some tests for a research version of FreeBSD. In certain co

conditional <exec_depend> in package.xml I am writing some tests for a research version of FreeBSD. In certain co

I am building a shared library for use in another package. I'm using ROS2 dashing.

I followed the instructions of the ament_cmake user documentation, but the client project could not find my library's header files unless I added the ament_export_include_directories(include) and ament_export_libraries(my_library) functions, which the documentation says are superfluous.

Here is the CMakeList.txt for my library:

cmake_minimum_required(VERSION 3.5)
project(macaroons)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)

add_library(macaroons SHARED
            src/macaroons.cpp
            )

target_include_directories(macaroons PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)

ament_export_interfaces(export_macaroons HAS_LIBRARY_TARGET)   # <-- documentation prepends export_

install(
  DIRECTORY include/
  DESTINATION include
)

install(
  TARGETS macaroons
  EXPORT export_macaroons     # <-- documentation prepends export_
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION include
)

ament_export_include_directories(include)     # <-- superfluous?
ament_export_libraries(macaroons)             # <-- superfluous?

ament_package()

This places the library in <prefix>/install/macaroons/lib/libmacaroons.so and the API header files in <prefix>/install/macaroons/include/macaroons/macaroons.hpp, which is where I would expect them to be.

If I do not include the "superfluous" commands, then when try to find_packag() and use ament_target_dependencies(), I get fatal error: macaroons/macaroons.hpp: No such file or directory. If I do include them, it builds just fine.

Here is the client project's CMakeList.txt file:

cmake_minimum_required(VERSION 3.5)
project(macaroon_demo)

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(std_msgs REQUIRED)
find_package(macaroons REQUIRED)

add_executable(macaroon_demo
              src/macaroon_demo.cpp
              src/talker_node.cpp
              src/listener_node.cpp)
target_include_directories(macaroon_demo PRIVATE
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
ament_target_dependencies(macaroon_demo rclcpp rclcpp_components std_msgs macaroons)

install(TARGETS
  macaroon_demo
  DESTINATION lib/${PROJECT_NAME})

ament_package()

I'm grateful that it builds, but I would also be grateful for an explanation of where my library's CMakeList.txt file is incorrect.

The ROS2 eloquent installation instructions say the default DDS implementation is eProsima's Fast RTPS. Similarly, the instructions for installing a new DDS implementation state that eProsima's Fast RTPS is the only one bundled with ROS2.

However, in ros2_eloquent/src generated during a vanilla install, I find eclipse_cyclonedds.

The description of different DDS implementations doesn't list cyclonedds anywhere, but the vanilla installation of eloquent does include rmw_cyclonedds_cpp alongside rmw interfaces for the other DDS implementations.

I'm not very clear on the relationship, if any, between eProssima's Fast RTPS and eclipse's cyclonedds. I was under the impression that they are separate DDS implementations.

Is that accurate? I may be missing something pretty fundamental here... Or perhaps cyclonedds and its rmw interface is now sufficiently mature that it's bundled with eloquent, and I am just looking at outdated websites.

error with exported yaml library I am cross-compiling ROS2 dashing onto a FreeBSD-based system. I have a CrossToolchain

Good. Thanks. I'll leave it then.

This seems to be formatting strangely on every browser I use (no word wrapping). Trying to edit doesn't appear to help.

Yes. Sorry about that. I had a glitch of some kind when I posted the question. It brought me through a login screen,