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The RZ/V2H ROS2 Support Package provides the ROS2 installation procedure for RZ/V2H:

RZ/V2H ROS2 Support Package


Note: You can choose to install Yocto Native or Docker container environment.

Case1: ROS2 Core (Yocto Native) / Galactic
Case2: ROS2 Core (Docker container) / Humble

RZ/V2H ROS2 SDK

Case1: ROS2 / Galactic

The ROS2 SDK gets prepared with the BSP in yocto and contains all libraries that are available on the device.
If a library is missing in the SDK, that library needs to be added to the BSP and SDK in yocto.

The ROS2 sample application from Renesas gets x-compiled in yocto as well.


To x-compile an application without yocto the stand-alone SDK needs be patched.

Patch instructions:

prepare_ROS2_SDK.bash 
#!/bin/bash


#-# install SDK

#-# path used to install the SDK:
export ROS2_SDK_PATH="/opt/poky/3.1.26_RZV2H_ROS2"

#-# yocto build directory path (the SDK ROS2 libraries refer to that path)
export ROS2_BSP_YOCTO_BUILD_PATH="/home/stefan/rzg_ubuntu-20.04/rzv2h_EVK_v3.0.0_ROS2/build/tmp"

export ROS2_SDK_PATH2=${ROS2_SDK_PATH//\//\\/}
export ROS2_BSP_YOCTO_BUILD_PATH2=${ROS2_BSP_YOCTO_BUILD_PATH//\//\\/}

# 

sudo rm -rf ${ROS2_SDK_PATH}

./poky-glibc-x86_64-core-image-weston-aarch64-rzv2h-evk-ver1-toolchain-3.1.26.sh
#-# choose directory: ${ROS2_SDK_PATH}


#-# patch SDK for ROS2
#-# Note: Modify the "SDK build path" used for "INTERFACE_LINK_LIBRARIES" to the new path of poky's sysroots.

sed -i "s/\/opt\/poky\/3.1.31/$ROS2_SDK_PATH2/g"                     patch_sdk.py
sed -i "s/~\/ws\/ros2-install\/build\/tmp/$ROS2_BSP_YOCTO_BUILD_PATH2/g" patch_sdk.py

sudo python3 patch_sdk.py

#-# target[/opt/poky/3.1.26_RZV2H_ROS2/sysroots/aarch64-poky-linux/usr/share/fastrtps/cmake/fastrtps-dynamic-targets.cmake]
#-# target[/opt/poky/3.1.26_RZV2H_ROS2/sysroots/aarch64-poky-linux/usr/share/cartographer/cmake/CartographerTargets.cmake]
#-# target[/opt/poky/3.1.26_RZV2H_ROS2/sysroots/aarch64-poky-linux/usr/share/geometric_shapes/cmake/export_geometric_shapesExport.cmake]
#-# target[/opt/poky/3.1.26_RZV2H_ROS2/sysroots/aarch64-poky-linux/usr/share/rcl_yaml_param_parser/cmake/rcl_yaml_param_parserExport.cmake]
#-# target[/opt/poky/3.1.26_RZV2H_ROS2/sysroots/aarch64-poky-linux/usr/share/v4l2_camera/cmake/export_v4l2_cameraExport.cmake]
#-# target[/opt/poky/3.1.26_RZV2H_ROS2/sysroots/aarch64-poky-linux/usr/share/rcl_logging_log4cxx/cmake/rcl_logging_log4cxxExport.cmake]
#-# target[/opt/poky/3.1.26_RZV2H_ROS2/sysroots/aarch64-poky-linux/usr/lib/BehaviorTreeV3/cmake/BehaviorTreeV3Config.cmake]
#-# target[/opt/poky/3.1.26_RZV2H_ROS2/sysroots/aarch64-poky-linux/usr/lib64/cmake/benchmark/benchmarkTargets.cmake]
#-# target[/opt/poky/3.1.26_RZV2H_ROS2/sysroots/aarch64-poky-linux/usr/lib64/cmake/opencv4/OpenCVModules.cmake]
#-# target[/opt/poky/3.1.26_RZV2H_ROS2/sysroots/aarch64-poky-linux/usr/lib64/cmake/realsense2/realsense2Targets.cmake]
#-# target[/opt/poky/3.1.26_RZV2H_ROS2/sysroots/aarch64-poky-linux/usr/lib64/urdfdom/cmake/urdfdomExport.cmake]



### It may be that the patch script does not modify all files required.
### If you execute the following command and find some files, please correct the INTERFACE_LINK_LIBRARIES paths of all files manually.
### sudo find ${ROS2_SDK_PATH}/ -name "*Export.cmake" | xargs grep -l "build/tmp" | grep INTERFACE_LINK_LIBRARIES
#-# => no result
#-#   => All files of the current SDK have been patched with the patch_sdk.py script.


Patch script (patch_sdk.py):

patch_sdk.py 
import glob
import os
import sys

sdk_path="/opt/poky/3.1.31/sysroots/aarch64-poky-linux"

tgt_path=sdk_path
#tgt_path="dbg"

keyword="INTERFACE_LINK_LIBRARIES"

keyword2="~/ws/ros2-install/build/tmp"

def search_target():
  tgt_files = []
  #for file_name in glob.glob(tgt_path + "/**/*Export.cmake", recursive=True):
  for file_name in glob.glob(tgt_path + "/**/*.cmake", recursive=True):
    flg = 0
    try:
      file = open(file_name)
      lines = file.readlines()
      for line in lines:
        if (keyword in line):
          if (keyword2 in line):
            flg = 1

    except Exception as e:
      print(e)
    finally:
      file.close()

    if flg == 1:
      tgt_files.append(file_name)

  return tgt_files


def update_target(file_name, shadow):
  sw_name = shadow
  wfile = open(sw_name, 'w')
  try:
    file = open(file_name)
    lines = file.readlines()
    line_idx = 1
    for line in lines:
      line_idx = line_idx + 1
      flg = 0
      k1 = keyword in line
      k2 = keyword2 in line
      if (k1 and k2):
        line = line.strip()
        words = line.split(" ")
        widx = 0
        for word in words:
          word = word.strip()
          word = word.strip('"')
          #print("word:",widx, "[" + word + "]")
          widx = widx + 1
          newwords = []
          if (keyword2 in word):
            tokens = word.split(";")
            tidx = 0
            newtokens = []
            for token in tokens:
              #print("token:",tidx, "[" + token + "]")
              tidx = tidx + 1
              if (keyword2 in token):
                bn = os.path.basename(token)
                dn = os.path.dirname(token)

                d1 = os.path.basename(dn)
                dn1 = os.path.dirname(dn)
                d2 = os.path.basename(dn1)

                token = sdk_path + "/" + d2+ "/" + d1 + "/" + bn
              newtokens.append(token)
            word = ""
            index = 0
            for nw in newtokens:
              if index != 0:
                word = word + ";" + nw
              else:
                word = nw
              index = index + 1
            word = '"' + word + '"'
            #print(word)
          #newwords.append(word)
        print("  INTERFACE_LINK_LIBRARIES " + word, file=wfile)
        #print("  INTERFACE_LINK_LIBRARIES " + word)
        
      else:
        print(line, file=wfile, end="")

  except Exception as e:
    print(e)
  finally:
    file.close()
  wfile.close()

def swap_file(file_name, shadow):
  bkup = file_name + ".backup"
  os.rename(file_name, bkup)
  os.rename(shadow, file_name)

target = search_target()
for file_name in target:
  print("target["+file_name+"]")
  shadow = file_name + ".shadow"
  update_target(file_name, shadow)
  swap_file(file_name, shadow)


example "Hello World ROS2"

Simple "Hello World" publisher:

HelloWorld_ROS2.tar.gz


1. cross-compile the "Hello World" example with the following script: 
#!/bin/bash


#-# path used to install the SDK:
export ROS2_SDK_PATH="/opt/poky/3.1.26_RZV2H_ROS2"

export ROS2_SDK_PATH2=${ROS2_SDK_PATH//\//\\/}


### #######  cross-compilation on a Linux PC

pip install -U colcon-common-extensions


#-# start SDK with
unset LD_LIBRARY_PATH 
source ${ROS2_SDK_PATH}/environment-setup-aarch64-poky-linux

export PYTHONPATH="${ROS2_SDK_PATH}/sysroots/x86_64-pokysdk-linux/usr/lib/python3.8/site-packages"
export PYTHONPATH="${PYTHONPATH}:${ROS2_SDK_PATH}/sysroots/aarch64-poky-linux/usr/lib64/python3.8/site-packages"

export CMAKE_PREFIX_PATH="${ROS2_SDK_PATH}/sysroots/x86_64-pokysdk-linux/usr"
export CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}:${ROS2_SDK_PATH}/sysroots/x86_64-pokysdk-linux/usr/lib"
export CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}:${ROS2_SDK_PATH}/sysroots/x86_64-pokysdk-linux/usr/lib/cmake"
export CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}:${ROS2_SDK_PATH}/sysroots/aarch64-poky-linux/usr"
export CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}:${ROS2_SDK_PATH}/sysroots/aarch64-poky-linux/usr/lib64"
export CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}:${ROS2_SDK_PATH}/sysroots/aarch64-poky-linux/usr/lib64/cmake"
export CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}:${ROS2_SDK_PATH}/sysroots/aarch64-poky-linux/usr/share"

export AMENT_PREFIX_PATH="${ROS2_SDK_PATH}/sysroots/aarch64-poky-linux/usr"
export AMENT_PREFIX_PATH="${AMENT_PREFIX_PATH}:${ROS2_SDK_PATH}/sysroots/aarch64-poky-linux/usr/lib64"
export AMENT_PREFIX_PATH="${AMENT_PREFIX_PATH}:${ROS2_SDK_PATH}/sysroots/aarch64-poky-linux/usr/lib64/cmake"

PKGARGS=""
if [ $# == 1 ] ; then
  PKGARGS="--packages-select $1"
  echo $PKGARGS
fi

#-# ##

cd ros2_ws

cp -f cross.cmake.tmp cross.cmake
sed -i "s/\/opt\/poky\/3.1.31/$ROS2_SDK_PATH2/g" cross.cmake


colcon build --merge-install \
    --cmake-force-configure \
    --cmake-args \
        -DCMAKE_TOOLCHAIN_FILE=${PWD}/cross.cmake \
        -DCMAKE_MAKE_PROGRAM=/usr/bin/make \
        -DENABLE_PRECOMPILED_HEADERS=OFF \
    $PKGARGS
2. copy the generated directory "install" to the RZ/V2H EVK: 
rsh root@<IP_address_of_RZV2H_EVK> "mkdir -p /home/root/ros2_ws"

scp -r install <IP_address_of_RZV2H_EVK>:/home/root/ros2_ws
3. Run the publisher on RZ/V2H EVK: 
# login to RZ/V2H EVK and start the following commands:

source /etc/profile.d/ros/setup.bash

source ~/ros2_ws/install/setup.bash



#Start application

ros2 run hello_world_publisher publisher_node



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