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{ros2} Add required ROS2 SDK environment variables #1261

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{ros2} Add required ROS2 SDK environment variables #1261

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@sgstreet sgstreet commented Nov 20, 2024 •
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This PR adds the following environment variable when the SDK is setup:

PYTHON_SOABI required to avoid setup failures with python packages
PYTHON3_NUMPY_INCLUDE_DIR required to using python opencv binding
PYTHONWARNINGS to suppress setuptool warmings
AMENT_SKIP_SHELL_PATH to prevent ament from prepending $OECORE_TARGET_SYSROOT/opt/ros/$ROS_DISTRO/bin to glocal PATH variable
PYTHONPATH to include the target site-packages to the python environment

If the Yocto enviroment variable ROS_SDK_UNIFY is not empty, $OECORE_TARGET_SYSROOT/opt/ros/$ROS_DISTRO/setup.bash or friends is source during SDK setup.

@robwoolley
meta-ros-common: Preserve PYTHONPATH in ros_opt_prefix.bbclass
2c0624c 
Ensure that the previous value of PYTHONPATH is preserved when
the ROS opt prefix Python site-packages directory is added.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros2: Add missing copyright to ros_ament_cmake.bbclass
69eacc5 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros2: Disable prefix-path generation for ros_ament_cmake packages
4aae711 
The prefix-path file contains references to TMPDIR which causes
package QA warnings.  Disable the generation of the prefix-path files
as we presently are not using them to build on the target.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros2: Add setuptools3 workaround to ros_ament_python.bbclass
4e4129e 
Duplicate workaround in setuptools3_legacy.bbclass but
customized for the ROS opt prefix.

Resolves problems in setuptools3 packages which add a redundant
directory (eg. /opt/ros/rolling/share/ament_package/ament_package)

Substitute mv for cp and rm to avoid condition where mv failed
when there was an existing directory with the same name.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros2: libfyaml: Add new recipe
e10ec68 
Add libfyaml recipe needed as a dependency for mrpt2.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros2: google-benchmark: Update to 1.8.3
03352ec 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: yaml-cpp: Update to 0.8.0
23e5923 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
{rolling} yaml-cpp-vendor: Use system yaml-cpp
ad82ae2 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: fcl: Add octomap for moveit
a6eccca 
The optional dependency on octomap is necessary for building moveit.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: fcl: Add recipe for 0.7.0
ed4150e 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: libfreenect: Add recipe for 0.6.4
ad68a58 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: pcl: Add multiple recipe versions
3ecd285 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: assimp: Enable internal zlib build
c2bff0a 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: gdal: Extend recipe for native support
2184c59 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: suitesparse: Add newer versions of recipes
8d9ad46 
Add new recipes for suitesparse, leaving the older recipes if needed
by older ROS 2 distros.

Update the WORKDIR variable for old recipes to use git directory name.

The suitesparse-cholmod and suitesparse-spqr recipes had incorrect
version numbers that were ahead of the latest versions.  Reset the
versions to correspond to CMakeLists.txt in the latest releases.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: ceres-solver: Remove suitesparse-metis
8bfafec 
This removes suitesparse-metis as it is reportedly broken in the latest
version of ceres-solver in meta-openembedded.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: postgresql: Extend recipe for native support
2b289fb 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: ffmpeg: Extend recipe for native support
4f31a7e 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: freeglut: Extend recipe for native support
489f582 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: backward-cpp: Add new recipe
d1f293c 
Add new recipe for backward-ros and gz-tools2.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: coinor-buildtools: Add new recipe
8266ac9 
Add new recipe as needed dependency for ipopt.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: libdeflate: Add new recipe
3988629 
New recipe required for libtiff, openexr, and gdal.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: python3-pyproj: Extend recipe for native support
6484578 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: gts: Add new recipe
f8c33cc 
Add gts recipe for gz-common5.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros2: libdeflate: Remove duplicate recipe
bc08e28 
Recipe was moved to meta-ros-common.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: libdeflate: Extend recipe for native support
e7ea438 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: libraw: Extend recipe for native support
fb4ca47 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: libtheora: Extend recipe for native support
bf1cbf5 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: libxv: Extend recipe for native support
7ee2b4f 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
meta-ros-common: libglu: Extend recipe for native support
b65e38d 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
robwoolley and others added 24 commits November 9, 2024 03:57
@robwoolley
README.md: Update table of supported combinations
cd289df 
Add new Yocto releases Styhead and Walnascar and new ROS 2 Jazzy Distro.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
{common} colcon: Update recipes to latest versions
5df4384 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@sgstreet @robwoolley
{common} Add native sdk class extentions
a81aa61 
Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
@sgstreet @robwoolley
{common}{ros2} Combine overrides in EXTRA_OECMAKE
5ba6428 
The original code used EXTRA_OECMAKE:prepend multiple times to define
CMAKE_PREFIX_PATH and CMAKE_INSTALL_PATH. This led to incorrect values
as only the last value was selected.

Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
@sgstreet @robwoolley
{common} python3-colcon-core: Fix python interpreter
00fefd0 
This ensures that the colcon-core Python module sets the correct
Python executable when building scripts with setuptools.

Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
@jiaxshi @robwoolley
{rolling} Add package lists for ROS 2 SDKs
23939d4 
Signed-off-by: Jiaxing Shi <quic_jiaxshi@quicinc.com>
Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
@jiaxshi @robwoolley
{jazzy} Add package lists for ROS 2 SDKs
c3383a5 
Signed-off-by: Jiaxing Shi <quic_jiaxshi@quicinc.com>
Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
@jiaxshi @robwoolley
{humble} Add package lists for ROS 2 SDKs
a8969db 
Signed-off-by: Jiaxing Shi <quic_jiaxshi@quicinc.com>
Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
@sgstreet @robwoolley
{common} Update sdktest image recipes for ROS and ROS 2
7d50c8a 
ros2-image-sdktest: Add a new image recipe for testing ROS 2 SDKs
ros1-image-sdktest: Rename and move the image recipe for testing ROS SDKs

Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@sgstreet @robwoolley
{common} pcl: Remove build path references
43070e8 
Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
@robwoolley
{common} orocos-kdl: Fix Upstream-Status syntax on patch
68a97f0 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
{common} python3-pykdl: Add exception for QA warning
7b65967 
The PyKDL.so file is being stripped by the build system.  Add a
temporary workaround to ignore the QA warning.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
{common} pcl: Use pkgconfig to find dependencies
a5154ad 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
{common} pcl: Remove build paths from PCLconfig.cmake
6bd60a2 
The dependencies Boost and Flann use absolute paths to specify where to
find the headers and libraries.  Remove the host recipe sysroot prefix
from these paths to remove the QA warning about buildpaths.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@sgstreet @robwoolley
{common} ros_ament_cmake: Add ROS prefix site-packages to PYTHONPATH
e6d236f 
Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
@sgstreet @robwoolley
{common} ros_opt_prefix: Create ros_base_prefix
cb6849c 
When building nativesdk packages the base_prefix value is set
to SDKPATHNATIVE.  This prevents ros_prefix from being used
to extend STAGING_DIR_NATIVE.  Create ros_base_prefix for
this purpose.

Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@RiZom-91 @robwoolley
{rolling} fastrtps: Find TinyXML2
ad9d3f3 
Use TinyXML2 from the target sysroot directory.

Signed-off-by: Romain Gimenez <romain.gimenez@protonmail.ch>
Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
@RiZom-91 @robwoolley
{jazzy} fastrtps: Find TinyXML2
d9e0a2e 
Use TinyXML2 from the target sysroot directory.

Signed-off-by: Romain Gimenez <romain.gimenez@protonmail.ch>
Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
@RiZom-91 @robwoolley
{humble} fastrtps: Find TinyXML2
adbd95b 
Use TinyXML2 from the target sysroot directory.

Signed-off-by: Romain Gimenez <romain.gimenez@protonmail.ch>
Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
@sgstreet @robwoolley
{humble} Use find package for yaml to prevent sdk build failures
71b394f 
Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
@robwoolley
{rolling} ament-package: Add envvar to skip setting PATH
d5801d7 
We should not set the PATH or LD_LIBRARY_PATH when using an SDK.

This provides the option AMENT_SKIP_SHELL_PATH to allow us to
skip setting the variables.

Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@mhatle @robwoolley
meta-ros-common: python3-pydot: Update branch to main
f8b6cf0 
The 'master' branch appears to no longer be present on github, switch to
'main'.

Signed-off-by: Mark Hatle <mark.hatle@amd.com>
Signed-off-by: Trevor Woerner <twoerner@gmail.com>
@robwoolley
{rolling} Set SPDX-compliant LICENSE values
232e724 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@robwoolley
{rolling} cv-bridge: Fix buildpaths QA issue
ed7dfa3 
Signed-off-by: Rob Woolley <rob.woolley@windriver.com>
@sgstreet sgstreet marked this pull request as draft November 25, 2024 22:13
@sgstreet
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Still verifying this on master-next and styhead-next

@sgstreet
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sgstreet commented Nov 25, 2024 •
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@robwoolley I verify this by building examples, demos and example-interfaces with master-next and styhead-next. We still have the issue of PYTHON_SOABI verses _PYTHON_SYSCONFIGDATA_NAME. I have been unable to make the latter work.

@sgstreet
{ros2} Add required ROS2 SDK environment variables
fd2dd6c 
Signed-off-by: Stephen Street <stephen@redrocketcomputing.com>
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7 participants
@sgstreet @robwoolley @twoerner @DasRoteSkelett @jiaxshi @RiZom-91 @mhatle