[Discourse.ros.org] [OpenEmbedded] Meta-ros Kinetic runtime issue with roscore

['Mike Thompson' via Mailing List of ROS Layer for OpenEmbedded Linux]

Hey everyone,

I'm adding ros-meta to a Yocto/OpenEmbedded build of a Linux distribution for a 
custom Xilinx Zynq based camera board and it looks like I'm running into some 
runtime dependency issues when running roscore.

I'm using the experimental kinetic distribution of ros-meta at:

    https://github.com/bulwahn/meta-ros/tree/kinetic-experimental

My bblayers.conf file looks as follows:

    BBLAYERS ?= " \
      ${TOPDIR}/../poky/meta \
      ${TOPDIR}/../poky/meta-poky \
      ${TOPDIR}/../poky/meta-yocto-bsp \
      ${TOPDIR}/../meta-openembedded/meta-oe \
      ${TOPDIR}/../meta-openembedded/meta-python \
      ${TOPDIR}/../meta-openembedded/meta-multimedia \
      ${TOPDIR}/../meta-xilinx \
      ${TOPDIR}/../meta-ros \
      ${TOPDIR}/../meta-shadowbox \
      "

Added the following line to by core-image.bb file:

    IMAGE_INSTALL += "roslaunch"

Used the following command to create my own image.

    bitbake core-image

Build completed without any errors.  Created an SD card including the kernel
and file system that includes ROS.

On the booted Xilinx Zynq based system running the Linux environment I just 
built, I'm configuring ROS Kinetic with the
following:

    export ROS_ROOT=/opt/ros/kinetic
    export ROS_DISTRO=kinetic
    export ROS_PACKAGE_PATH=/opt/ros/kinetic/share
    export PATH=$PATH:/opt/ros/kinetic/bin
    export LD_LIBRARY_PATH=/opt/ros/kinetic/lib
    export PYTHONPATH=/opt/ros/kinetic/lib/python2.7/site-packages
    export ROS_MASTER_URI=http://localhost:11311
    export CMAKE_PREFIX_PATH=/opt/ros/kinetic
    touch /opt/ros/kinetic/.catkin

I have the following problems running roscore.

    root@microzed-camera:~# roscore
    Traceback (most recent call last):
      File "/opt/ros/kinetic/bin/roscore", line 36, in <module>
        from rosmaster.master_api import NUM_WORKERS
      File 
"/opt/ros/kinetic/lib/python2.7/site-packages/rosmaster/__init__.py", line 35, 
in <module>
        from .main import rosmaster_main
      File "/opt/ros/kinetic/lib/python2.7/site-packages/rosmaster/main.py", 
line 43, in <module>
        import rosmaster.master
      File "/opt/ros/kinetic/lib/python2.7/site-packages/rosmaster/master.py", 
line 47, in <module>
        import rosmaster.master_api
      File 
"/opt/ros/kinetic/lib/python2.7/site-packages/rosmaster/master_api.py", line 
72, in <module>
        from rosmaster.util import xmlrpcapi
      File "/opt/ros/kinetic/lib/python2.7/site-packages/rosmaster/util.py", 
line 48, in <module>
        from defusedxml.xmlrpc import monkey_patch
    ImportError: No module named defusedxml.xmlrpc
    root@microzed-camera:~#

>From what I can find on ROS Answers, it looks like defusedxml was as a fairly 
>recent dependency added to ROS Kinetic.  I assume this dependency probably 
>didn't make it into the meta-ros dependencies.  Any suggestions on how I go 
>about adding it to the Yocto/OpenEmbedded build of the system?

Thanks,

Mike






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