Hi, guys! I have a DART-MX8M-Mini machine ( https://www.variscite.com/product/system-on-module-som/cortex-a53-krait/dart-mx8m-mini-nxp-i-mx8m-mini/?utm_source=google&utm_medium=cpc&utm_campaign=291971056&utm_content=532110069537&utm_term=&gclid=CjwKCAjwh5qLBhALEiwAioods_4YBjAwe9mqeq7pdZ58inI733nhLfbFsKz_EaNXLnY88O6qknOWsRoCuT0QAvD_BwE ) running Yocto Hardknott.
I properly added meta-ros layer and ROS2 foxy distro to our Yocto build by following instructions from here ( https://github.com/ros/meta-ros/wiki/OpenEmbedded-Build-Instructions#add-meta-ros-to-an-existing-openembedded-project ) ( Sanity Tests ( https://github.com/ros/meta-ros/wiki/OpenEmbedded-Build-Instructions#ros-2-sanity-test ) pass successfully). With the help of devtool , I was able to build my custom ROS2 package (containing simple talker and listener nodes - link ( https://github.com/bojankoce/my_first_yocto_pkg ) ). For that to happen, I got some great support from the Yocto community - link ( https://lists.yoctoproject.org/g/yocto/topic/cross_compile_custom_ros2/86906676?p=,,,20,0,0,0::recentpostdate/sticky,,,20,2,0,86906676,previd=1636382356558417769,nextid=1636039783275782835&previd=1636382356558417769&nextid=1636039783275782835 ). Here is the content of my-first-yocto-pkg_git.bb recipe that enabled me to download my source code from the git and properly build the ROS2 package: # Recipe created by recipetool # This is the basis of a recipe and may need further editing in order to be fully functional. # (Feel free to remove these comments when editing.) # Unable to find any files that looked like license statements. Check the accompanying # documentation and source headers and set LICENSE and LIC_FILES_CHKSUM accordingly. # # NOTE: LICENSE is being set to "CLOSED" to allow you to at least start building - if # this is not accurate with respect to the licensing of the software being built (it # will not be in most cases) you must specify the correct value before using this # recipe for anything other than initial testing/development! DESCRIPTION = "Examples of minimal publisher/subscriber using rclcpp." LICENSE = "Apache-2.0" LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f" SRC_URI = "git://github.com/bojankoce/my_first_yocto_pkg;protocol=https" # Modify these as desired PV = "0.1.0" SRCREV = "1312445de2e6861d9561c0f89f4827b94c2ff6b1" S = "${WORKDIR}/git" # NOTE: unable to map the following CMake package dependencies: rclcpp ament_lint_auto std_msgs ros_ament_cmake inherit ros_distro_foxy inherit ros_superflore_generated inherit ros_ament_cmake ROS_BUILD_DEPENDS = " \ rclcpp \ std-msgs \ " ROS_BUILDTOOL_DEPENDS = " \ ament-cmake-native \ " ROS_EXPORT_DEPENDS = "" ROS_BUILDTOOL_EXPORT_DEPENDS = "" ROS_EXEC_DEPENDS = " \ launch-ros \ std-msgs \ " DEPENDS = "${ROS_BUILD_DEPENDS} ${ROS_BUILDTOOL_DEPENDS}" DEPENDS += "${ROS_EXPORT_DEPENDS} ${ROS_BUILDTOOL_EXPORT_DEPENDS}" # Specify any options you want to pass to cmake using EXTRA_OECMAKE: #EXTRA_OECMAKE = "" I currently have a hard time building my ROS2 package that contains only custom ROS2 interfaces (messages and services). CMakeLists.txt file of that package contains the following lines that are causing the build errors: find_package(rosidl_default_generators REQUIRED) ... rosidl_generate_interfaces(${PROJECT_NAME} "msg/MessageX.msg" "msg/MessageY.msg" "srv/SrvX.srv" "srv/SrvY.srv" ) Do you have any idea about what should be included as inherit xxxxx or within ROS_BUILD_DEPENDS / ROS_BUILDTOOL_DEPENDS / ROS_EXEC_DEPENDS... in order to successfully generate the ROS2 package containing custom interfaces? Thanks in advance for your time and efforts. It is appreciated. Sincerely, Bojan.
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