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Note: This tutorial assumes that you have completed the previous tutorials: Yocto setup on the Galileo.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Adding Packages from the host

Description: Build a package file on the host, then install it on the Galileo.

Tutorial Level: INTERMEDIATE

Next Tutorial: Adding your own code

Introduction

This tutorial will create a package file on the host, transfer it to the Galileo card, and install it there. This assumes you already have a ~/catkin_ws workspace set up as per the beginner tutorials.

Create the package

Create the package on the host machine:

$ source ~/catkin_ws/devel/setup.bash
$ cd ~/catkin_ws/src
$ catkin_create_pkg clanton_tutorial std_msgs rospy
$ cd ~/catkin_ws
$ catkin_make
$ cd -
$ mkdir scripts
$ cd scripts
$ wget https://raw.github.com/ros/ros_tutorials/groovy-devel/rospy_tutorials/001_talker_listener/talker.py
$ wget https://raw.github.com/ros/ros_tutorials/groovy-devel/rospy_tutorials/001_talker_listener/listener.py
$ chmod +x *.py
$ cd ..

Edit CMakeLists

Edit CMakeLists.txt, find the install section, and make sure the install clause looks like this:

install(PROGRAMS
   scripts/talker.py
   scripts/listener.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

Run:

$ cd ~/catkin_ws
$ catkin_make

Try it out on the host to make sure it works. In one window:

source ~/catkin_ws/install/setup.bash
roscore

In another window:

source ~/catkin_ws/install/setup.bash
rosrun clanton_tutorial talker.py

In another window:

source ~/catkin_ws/install/setup.bash
rosrun clanton_tutorial listener.py

If everything is working right, you should see "I heard hello world" in the last window. Now kill them all.

== Make the package ==

$ cd ~/devel_gal/meta-clanton_v0.7.5/meta-ros/recipes-ros
$ mkdir clanton-tutorial
$ cd clanton-tutorial
$ cp -r ~/catkin_ws/src/clanton_tutorial .

Edit a new file called "clanton-tutorial.bb" and make it look like this:

LICENSE="GPLv2"
SRC_URI = "file:///home/jfstepha/catkin_ws/src/clanton_tutorial"
SECTION = "devel"

LIC_FILES_CHKSUM = "file:///home/jfstepha/foobar/lic.txt;md5=d440307f45f8d0776b0ce3be6de70d48"
DEPENDS = "catkin rospy std-msgs"
RDEPENDS = "rospy std-msgs"

S = "${WORKDIR}/clanton_tutorial"
inherit pkgconfig catkin
ROS_SPN = "ros_foobar"

FILES_${PN} += "/usr/share/clanton_tutorial/package.xml"
FILES_${PN} += "/usr/share/clanton_tutorial/cmake/clanton_tutorialConfig.cmake"
FILES_${PN} += "/usr/share/clanton_tutorial/cmake/clanton_tutorialConfig-version.cmake"


do_fetch () {
   cp -r /home/jfstepha/catkin_ws/src/clanton_tutorial ${WORKDIR}
}

TODO: finish these steps:


2018-12-15 12:18