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{ros2} Add required ROS2 SDK environment variables #1261

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{ros2} Add required ROS2 SDK environment variables #1261

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sgstreet
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@sgstreet sgstreet commented Nov 20, 2024 •
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This PR adds the following environment variable when the SDK is setup:

PYTHON_SOABI required to avoid setup failures with python packages
PYTHON3_NUMPY_INCLUDE_DIR required to using python opencv binding
PYTHONWARNINGS to suppress setuptool warmings
AMENT_SKIP_SHELL_PATH to prevent ament from prepending $OECORE_TARGET_SYSROOT/opt/ros/$ROS_DISTRO/bin to glocal PATH variable
PYTHONPATH to include the target site-packages to the python environment

If the Yocto enviroment variable ROS_SDK_UNIFY is not empty, $OECORE_TARGET_SYSROOT/opt/ros/$ROS_DISTRO/setup.bash or friends is source during SDK setup. The value of ROS_SDK_UNIFY should one of the following "sh", "bash" or "zsh"

@sgstreet sgstreet marked this pull request as draft November 25, 2024 22:13
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Still verifying this on master-next and styhead-next

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sgstreet commented Nov 25, 2024 •
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@robwoolley I verify this by building examples, demos and example-interfaces with master-next and styhead-next. We still have the issue of PYTHON_SOABI verses _PYTHON_SYSCONFIGDATA_NAME. I have been unable to make the latter work.

@robwoolley
meta-ros-common: Preserve PYTHONPATH in ros_opt_prefix.bbclass
564a9bc 
Ensure that the previous value of PYTHONPATH is preserved when
the ROS opt prefix Python site-packages directory is added.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros2: Add missing copyright to ros_ament_cmake.bbclass
1385f94 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros2: Disable prefix-path generation for ros_ament_cmake packages
f109c30 
The prefix-path file contains references to TMPDIR which causes
package QA warnings.  Disable the generation of the prefix-path files
as we presently are not using them to build on the target.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros2: Add setuptools3 workaround to ros_ament_python.bbclass
f82920e 
Duplicate workaround in setuptools3_legacy.bbclass but
customized for the ROS opt prefix.

Resolves problems in setuptools3 packages which add a redundant
directory (eg. /opt/ros/rolling/share/ament_package/ament_package)

Substitute mv for cp and rm to avoid condition where mv failed
when there was an existing directory with the same name.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros2: libfyaml: Add new recipe
109b1b2 
Add libfyaml recipe needed as a dependency for mrpt2.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros2: google-benchmark: Update to 1.8.3
38ba93c 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: yaml-cpp: Update to 0.8.0
07444ec 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} yaml-cpp-vendor: Use system yaml-cpp
1958a05 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: fcl: Add octomap for moveit
74ae77d 
The optional dependency on octomap is necessary for building moveit.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: fcl: Add recipe for 0.7.0
a29b663 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: libfreenect: Add recipe for 0.6.4
32e193d 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: pcl: Add multiple recipe versions
4b6d0e5 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: assimp: Enable internal zlib build
b75f670 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: gdal: Extend recipe for native support
147c7f5 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: suitesparse: Add newer versions of recipes
01d8d2c 
Add new recipes for suitesparse, leaving the older recipes if needed
by older ROS 2 distros.

Update the WORKDIR variable for old recipes to use git directory name.

The suitesparse-cholmod and suitesparse-spqr recipes had incorrect
version numbers that were ahead of the latest versions.  Reset the
versions to correspond to CMakeLists.txt in the latest releases.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: ceres-solver: Remove suitesparse-metis
cf96bc6 
This removes suitesparse-metis as it is reportedly broken in the latest
version of ceres-solver in meta-openembedded.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: postgresql: Extend recipe for native support
b0a558d 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: ffmpeg: Extend recipe for native support
d080d5a 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: freeglut: Extend recipe for native support
433803e 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: backward-cpp: Add new recipe
67f1e1f 
Add new recipe for backward-ros and gz-tools2.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: coinor-buildtools: Add new recipe
2948a37 
Add new recipe as needed dependency for ipopt.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: libdeflate: Add new recipe
0d32e6d 
New recipe required for libtiff, openexr, and gdal.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: python3-pyproj: Extend recipe for native support
6fe542c 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: gts: Add new recipe
baf580a 
Add gts recipe for gz-common5.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros2: libdeflate: Remove duplicate recipe
44b5885 
Recipe was moved to meta-ros-common.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
meta-ros-common: libdeflate: Extend recipe for native support
daf2e53 
Signed-off-by: Rob Woolley <[email protected]>
robwoolley and others added 24 commits November 25, 2024 19:06
@robwoolley
{jazzy} libg2o: Add SPDX license identifier
a193e30 
Signed-off-by: Rob Woolley <[email protected]>
@windelbouwman @robwoolley
{rolling} libg2o: Allow to build libg2o without X11 and OpenGL
2527494 
Signed-off-by: Windel Bouwman <[email protected]>
@robwoolley
{rolling} libg2o: Add SPDX license identifier
6363f3d 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} libg2o: Remove references to host build paths
deff93c 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{common} lapack: Skip QA issue with buildpaths
0d47125 
The gfortran compiler does not have a flag to remove the source file from
the output. We must ignore the QA issues instead.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{common} suitesparse-cholmod: Remove buildpath references
6d04920 
Signed-off-by: Rob Woolley <[email protected]>
@windelbouwman @robwoolley
Allow rtabmap to be build without graphic support.
b1472eb 
Signed-off-by: Windel Bouwman <[email protected]>
@robwoolley
{rolling} libnabo: Add SPDX license identifier
cf36592 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} libnabo: Remove build path from installed files
d47cba2 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} libnabo: Enable native builds
ac524b6 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} libpointmatcher: Add SPDX license identifier
50f8b90 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} libpointmatcher: Enable native builds
2eb29f2 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{common} octomap: Remove useless rpaths
604c7a5 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} libnabo: Use find_package to find Eigen3
5f28ee9 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} libnabo: Add CMAKE_PREFIX_PATH to exported CMake file
2492445 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} libpointmatcher: Replace deprecated Boost functions
da623d0 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} libpointmatcher: Fix QA issue with buildpaths
e7d1400 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} gtsam: Set SPDX license identifier
fe51480 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} gtsam: Remove build path from gtsam binaries
626266c 
The GTSAM_SOURCE_TREE_DATASET_DIR is embedded as a default
search path inside the binaries produced. This is not relevant
when cross-compiling and causes a buildpath QA issue.

Remove the references to resolve the QA issue.

Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} gtsam: Use the system libeigen
91e2b4d 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} gtsam: Remove buildpath references
df293f6 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} gtsam: Place symlink .so files in -dev package
178154f 
Signed-off-by: Rob Woolley <[email protected]>
@robwoolley
{rolling} gtsam: Extend recipe for native builds
f36f626 
Signed-off-by: Rob Woolley <[email protected]>
@windelbouwman @robwoolley
{rolling} rtabmap: Allow rtabmap to be build without graphic support.
2394795 
Signed-off-by: Windel Bouwman <[email protected]>
Signed-off-by: Rob Woolley <[email protected]>
@sgstreet
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I have made a mess out of this, fixing now.

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@sgstreet @robwoolley @twoerner @DasRoteSkelett @jiaxshi @RiZom-91 @mhatle @windelbouwman