在Gumstix overo上获得我自己的ROS包(Bitbake yocto项目)

Question

我想让我自己的ROS包在Gumstix上工作。该项目的最终目标是从Caspa (摄像机)获取图像，并将其与ROS进行流。要做到这一点，我在Yocto项目上取得了最大的成功: Pocky，它使用BitBake交叉编译工具链。为此，我遵循了README.md在GitHub repo：https://github.com/gumstix/Gumstix-YoctoProject-Repo中的说明。

在正式的Gumstix网站上，关于实际闪烁和安装的说明更加清晰。

我成功地使用以下命令编译了带有所有ROS元数据和附加项的BitBake项目：

$ bitbake gumstix-console-image 

(需要相当长的时间和大量的磁盘空间)和稍后，闪烁和安装。

下面是我试图编译的包：https://github.com/elikos/groundStationPublic我试图尽可能简单地保存文件夹，以限制潜在的路径问题，所以所有的东西都在基本的dir中.(很丑，我知道)

这是我的CMakelist.txt：

cmake_minimum_required(VERSION 2.8.3)
project(groundStationPublic)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport roscpp rospy std_msgs genmsg)

find_package(OpenCV REQUIRED)

## Declare ROS messages and services
#add_message_files(FILES Num.msg)
#add_service_files(FILES AddTwoInts.srv)

## Generate added messages and services
#generate_messages(DEPENDENCIES std_msgs)

## Declare a catkin package
catkin_package()

include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})

add_executable(talker talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
#add_dependencies(talker beginner_tutorials_generate_messages_cpp)

add_executable(listener listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
#add_dependencies(listener beginner_tutorials_generate_messages_cpp)

add_executable(cornerDetection main.cpp ConerDetection.cpp LineDetection.cpp ImagePublisher.cpp)
target_link_libraries(cornerDetection ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

add_executable(bonPublisher bonPublisher.cpp)
target_link_libraries(bonPublisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

下面是我的包的BitBake配方：

DESCRIPTION = "Elikos groundstation code."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"

DEPENDS = "roscpp rospy catkin std-msgs"
RDEPENDS_${PN} = "roscpp rospy std-msgs"

SRC_URI = "git://github.com/elikos/groundStationPublic.git"

SRCREV = "${AUTOREV}"
PV = "1.0.0+gitr${SRCPV}"

S = "${WORKDIR}/git"

inherit catkin

ROS_SPN = "groundStationPublic"

我已经在~/yocto/poky/meta-ros/recipes-ros/groundStationPublic找到了

如果我执行命令bitbake groundStationPublic，一切都会编译得很好。没有错误。(您可能从x264_git中得到一个错误，但正确的sourcerev是: SRCREV = "ffc3ad4945da69f3caa2b40e4eed715a9a8d9526")

最后，我的问题是：

• 我的包裹在图像中的哪个位置？
  • 它不像我所期望的那样出现在/usr/share/里.

​

• 如果rosrun找不到，我该如何运行我的包裹？(可能是因为它根本不存在)
  • 我希望它能像rosrun groundStationPublic talker一样

​

Answer 1

终于找到了我自己问题的答案：

我不得不像在~/yocto/poky/meta-gumstix-extras/recipies-images/gumstix/gumstix-consol-image.bb中那样在图像中添加我的包

UTILITIES_INSTALL = " \
  [...]
  packagegroup-ros-comm \
  python-wstool \
  python-email \
  python-distutils \
  git \
  git-perltools \
  python-rosinstall \
  rospy-tutorials \
  roscpp-tutorials \
  groundStationPublic \
  [...]
"

并确保将UTILITIES_INSTALL添加到：

IMAGE_INSTALL += " \
  [...]
  ${UTILITIES_INSTALL} \
  [...]
"

我还必须更改CMakelist.txt，以显式地告诉它在哪里安装目标，下面是新的CMakelist.txt (注意最后几行中的差异)：

cmake_minimum_required(VERSION 2.8.3)
project(groundStationPublic)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport roscpp rospy std_msgs genmsg)

find_package(OpenCV REQUIRED)

## Declare ROS messages and services
#add_message_files(FILES Num.msg)
#add_service_files(FILES AddTwoInts.srv)

## Generate added messages and services
#generate_messages(DEPENDENCIES std_msgs)

## Declare a catkin package
catkin_package()

include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
#add_dependencies(talker beginner_tutorials_generate_messages_cpp)

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
#add_dependencies(listener beginner_tutorials_generate_messages_cpp)

add_executable(cornerDetection src/main.cpp src/ConerDetection.cpp src/LineDetection.cpp src/ImagePublisher.cpp)
target_link_libraries(cornerDetection ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

add_executable(bonPublisher src/bonPublisher.cpp)
target_link_libraries(bonPublisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

add_executable(exempleSubscriber src/exempleSubscriber.cpp)
target_link_libraries(exempleSubscriber ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

install(TARGETS talker listener cornerDetection bonPublisher exempleSubscriber
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

不幸的是，我目前遇到了opencv无法从caspa读取图像的问题(来自/dev/video6 6).但那是另一个问题！