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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:
#!/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):
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
#!/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
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
# 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
