{ros2} Add required ROS2 SDK environment variables

README.md

@@ -13,16 +13,17 @@ Releases and ROS Distros.  Releases and distros not shown in the table above
 can be presumed unsupported.
 
 
-| Yocto Release       |              | ROS1 Distros | ROS 2 Distros    |              |
-| ---                 | ---          | ---          | ---              | ---          |
-|                     | *(Rolling)*  | **Noetic**   | **Humble (LTS)** | **Iron**     |
-|                     |              | May 2025     | May 2027         | Nov 2024     |
-| **Styhead (Dev)**   | (Future)     | **May 2025** | (Future)         | **Nov 2024** |
-| **Scarthgap (LTS)** | Apr 2028     | **May 2025** | **May 2027**     | **Nov 2024** |
-| Nanbield            | ~~Apr 2024~~ | ~~Apr 2024~~ | ~~Apr 2024~~     | ~~Apr 2024~~ |
-| Mickledore          | ~~Nov 2023~~ | ~~Nov 2023~~ | Nov 2023 <sup>1</sup>     | ~~Nov 2023~~ |
-| Langdale            | ~~May 2023~~ | ~~May 2023~~ | ~~May 2023~~     | ~~May 2023~~ |
-| **Kirkstone (LTS)** | Apr 2026     | **Apr 2024** | **Apr 2026**     | **Nov 2024** |
+| Yocto Release       |              | ROS1 Distros | ROS 2 Distros    |              |              |
+| ---                 | ---          | ---          | ---              | ---          | ---          |
+|                     | *(Rolling)*  | **Noetic**   | **Humble (LTS)** | **Iron**     | *Jazzy*      |
+|                     |              | May 2025     | May 2027         | Nov 2024     | May 2029     |
+| **Walnascar (Dev)** | (Future)     | **May 2025** | **May 2027**     | **Nov 2024** | (Future)     |
+| **Styhead**         | May 2025     | **May 2025** | **May 2025**     | **Nov 2024** | **May 2025** |
+| **Scarthgap (LTS)** | Apr 2028     | **May 2025** | **May 2027**     | **Nov 2024** | **Apr 2028** |
+| Nanbield            | ~~Apr 2024~~ | ~~Apr 2024~~ | ~~Apr 2024~~     | ~~Apr 2024~~ | ~~Apr 2024~~ |
+| Mickledore          | ~~Nov 2023~~ | ~~Nov 2023~~ | Nov 2023 <sup>1</sup>     | ~~Nov 2023~~ | ~~Nov 2023~~ |
+| Langdale            | ~~May 2023~~ | ~~May 2023~~ | ~~May 2023~~     | ~~May 2023~~ | ~~May 2023~~ |
+| **Kirkstone (LTS)** | Apr 2026     | **Apr 2024** | **Apr 2026**     | **Nov 2024** | **Apr 2026** |
 
 
 

meta-ros-common/classes/ros_cmake.bbclass

@@ -3,7 +3,7 @@
 
 inherit cmake
 
-EXTRA_OECMAKE:prepend = "\
+EXTRA_OECMAKE:prepend:class-target = "\
     -DCMAKE_PREFIX_PATH='${STAGING_DIR_HOST}${ros_prefix};${STAGING_DIR_HOST}${prefix}' \
     -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
     -DCMAKE_MODULE_PATH='${STAGING_DIR_HOST}${ros_datadir}/cmake/Modules/' \
@@ -13,3 +13,8 @@ EXTRA_OECMAKE:prepend:class-native = "\
     -DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \
     -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
 "
+
+EXTRA_OECMAKE:prepend:class-nativesdk = "\
+    -DCMAKE_PREFIX_PATH='${STAGING_DIR_NATIVE}${ros_prefix};${STAGING_DIR_NATIVE}${prefix}' \
+    -DCMAKE_INSTALL_PREFIX:PATH='${ros_prefix}' \
+"

meta-ros-common/classes/ros_opt_prefix.bbclass

@@ -4,7 +4,8 @@
 # Copyright (c) Qualcomm Innovation Center, Inc. All rights reserved
 #
 
-ros_prefix ?= "${base_prefix}/opt/ros/${ROS_DISTRO}"
+ros_base_prefix ?= "/opt/ros/${ROS_DISTRO}"
+ros_prefix ?= "${base_prefix}${ros_base_prefix}"
 
 ros_bindir = "${ros_prefix}/bin"
 ros_sbindir = "${ros_prefix}/sbin"
@@ -30,8 +31,8 @@ inherit ${@'python3-dir' if d.getVar('ROS_PYTHON_VERSION') == '3' else 'python-d
 
 PKG_CONFIG_PATH .= ":${PKG_CONFIG_DIR}:${STAGING_DIR_HOST}${ros_libdir}/pkgconfig:${STAGING_DATADIR}/pkgconfig"
 PYTHON_SITEPACKAGES_DIR = "${ros_libdir}/${PYTHON_DIR}/site-packages"
-export PYTHONPATH = "${STAGING_DIR_NATIVE}${PYTHON_SITEPACKAGES_DIR}"
-PYTHONPATH:class-native = "${PYTHON_SITEPACKAGES_DIR}"
+export PYTHONPATH:prepend = "${STAGING_DIR_NATIVE}${PYTHON_SITEPACKAGES_DIR}:"
+PYTHONPATH:class-native:prepend = "${PYTHON_SITEPACKAGES_DIR}:"
 
 FILES_SOLIBSDEV += " ${ros_libdir}/lib*${SOLIBSDEV}"
 

meta-ros-common/conf/layer.conf

@@ -22,6 +22,6 @@ LAYERDEPENDS_ros-common-layer = " \
     openembedded-layer \
 "
 
-LAYERSERIES_COMPAT_ros-common-layer = "scarthgap"
+LAYERSERIES_COMPAT_ros-common-layer = "walnascar styhead"
 
 require conf/ros-distro/ros-distro.conf

meta-ros-common/recipes-dbs/postgresql/postgresql_%.bbappend

@@ -0,0 +1,3 @@
+# Copyright (c) 2023 Wind River Systems, Inc.
+
+BBCLASSEXTEND = "native nativesdk"

meta-ros-common/recipes-devtools/backward-cpp/backward-cpp_1.6.bb

@@ -0,0 +1,16 @@
+LICENSE = "MIT"
+LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=74ea9734864a5514a5d672f385e3b382"
+
+SRC_URI = "git://github.com/bombela/backward-cpp.git;protocol=https;branch=master"
+
+SRCREV = "3bb9240cb15459768adb3e7d963a20e1523a6294"
+
+S = "${WORKDIR}/git"
+
+DEPENDS = "libunwind elfutils"
+
+inherit cmake
+
+FILES:${PN}-dev += "${libdir}/backward/BackwardConfig.cmake"
+
+BBCLASSEXTEND = "native nativesdk"

meta-ros-common/recipes-devtools/coinor/coinor-buildtools_git.bb

@@ -0,0 +1,22 @@
+LICENSE = "EPL-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=e3fa146738cbe7d5c7435f87912e8b77"
+
+SRC_URI = "git://github.com/coin-or-tools/BuildTools.git;protocol=https;branch=master"
+
+SRCREV = "20208f47f7bbc0056a92adefdfd43fded969f674"
+
+PV = "0.8.10+git"
+S = "${WORKDIR}/git"
+
+do_install () {
+    install -d -m 0755 ${D}/${datadir}/coinor
+    install -D -m 0755 ${S}/coin.m4 ${D}${datadir}/coinor
+    install -D -m 0755 ${S}/coin-functions ${D}${datadir}/coinor
+    install -D -m 0755 ${S}/coin_chk_lapack.m4 ${D}${datadir}/coinor
+    install -D -m 0755 ${S}/coin_chk_libhdr.m4 ${D}${datadir}/coinor
+    install -D -m 0755 ${S}/coin_chk_pkg.m4 ${D}${datadir}/coinor
+    install -D -m 0755 ${S}/coin_fortran.m4 ${D}${datadir}/coinor
+    install -D -m 0755 ${S}/coin_math.m4 ${D}${datadir}/coinor
+}
+
+BBCLASSEXTEND = "native nativesdk"

meta-ros-common/recipes-devtools/colcon/python3-colcon-bash_0.4.2.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-bash_0.5.0.bb

@@ -4,7 +4,7 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=21;endline=21;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI[sha256sum] = "86950ca62293b655ef8d655d2994d110321fff2fc6739c46a64f005a0cee1bdd"
+SRC_URI[sha256sum] = "29a223a66828e18aad9b8db5087f7114e388601830091830ca17b095ada2cbac"
 
 inherit pypi setuptools3
 

meta-ros-common/recipes-devtools/colcon/python3-colcon-cmake_0.2.26.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-cmake_0.2.28.bb

@@ -4,7 +4,7 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI[sha256sum] = "5a227fe812766be5fc3895c821bf9190f571e8c25eb73962967310d6b524349f"
+SRC_URI[sha256sum] = "5e910890148d9d3c7f82f5c0e97904478e0e0bf156b786729099ead73d6ec4f0"
 
 inherit pypi setuptools3
 

meta-ros-common/recipes-devtools/colcon/python3-colcon-common-extensions_0.2.1.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-common-extensions_0.3.0.bb

@@ -4,7 +4,7 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI[sha256sum] = "73af96598efc24748234d68c0f3a7419cb1e47a4c3c90f6b0d70bcffef034826"
+SRC_URI[sha256sum] = "84408d13f8a46044851a7a4e686749940539d2b3d02e6752746cbbc9a89049ff"
 
 inherit pypi setuptools3
 

meta-ros-common/recipes-devtools/colcon/python3-colcon-core/0001-Remove-optional-pytest-dependencies.patch

@@ -9,18 +9,18 @@ Upstream-Status: Pending
  setup.cfg | 4 ----
  1 file changed, 4 deletions(-)
 
-diff --git a/setup.cfg b/setup.cfg
-index 64b4562..09afd3c 100644
---- a/setup.cfg
-+++ b/setup.cfg
-@@ -30,10 +30,6 @@ install_requires =
- 	coloredlogs; sys_platform == 'win32'
- 	distlib
+Index: colcon-core-0.18.3/setup.cfg
+===================================================================
+--- colcon-core-0.18.3.orig/setup.cfg
++++ colcon-core-0.18.3/setup.cfg
+@@ -32,10 +32,6 @@ install_requires =
  	EmPy
+ 	importlib-metadata; python_version < "3.8"
+ 	packaging
 -	pytest
 -	pytest-cov
 -	pytest-repeat
 -	pytest-rerunfailures
  	setuptools>=30.3.0
+ 	tomli>=1.0.0; python_version < "3.11"
  packages = find:
- tests_require = 

meta-ros-common/recipes-devtools/colcon/python3-colcon-core/0002-Force-shebang-to-usr-bin-env-python3.patch

@@ -0,0 +1,22 @@
+python3-colcon-core: Fix python interpreter
+
+This ensures that the colcon-core Python module sets the correct
+Python executable when building scripts with setuptools.
+
+Upstream-Status: Pending
+
+Signed-off-by: Stephen Street <[email protected]>
+
+Index: colcon-core-0.18.3/colcon_core/task/python/build.py
+===================================================================
+--- colcon-core-0.18.3.orig/colcon_core/task/python/build.py
++++ colcon-core-0.18.3/colcon_core/task/python/build.py
+@@ -113,7 +113,7 @@ class PythonBuildTask(TaskExtensionPoint
+                         os.path.realpath(args.path))]
+             cmd += [
+                 'build', '--build-base', os.path.join(
+-                    args.build_base, 'build'),
++                    args.build_base, 'build'), '--executable', '/usr/bin/env python3',
+                 'install',
+                 '--record', os.path.join(args.build_base, 'install.log')]
+             # Extract and explicitly pass install-scripts to setuptools.

meta-ros-common/recipes-devtools/colcon/python3-colcon-core_0.6.1.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-core_0.18.3.bb

@@ -4,10 +4,9 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI += "file://0001-Remove-optional-pytest-dependencies.patch \
-           file://0002-Fix-regression-when-enitre-workspace-is-symlinked.patch \
-           "
-SRC_URI[sha256sum] = "fc14534b2ce745fcc332afc0bb0ddf3e45d5d69c15da15b9471cfb7b0b9edbe9"
+SRC_URI = "file://0001-Remove-optional-pytest-dependencies.patch \
+           file://0002-Force-shebang-to-usr-bin-env-python3.patch"
+SRC_URI[sha256sum] = "8b3dcf0b140b2851a9169c60b3ed2ca78a6e48fec8ececdeefa287a6715f2e17"
 
 inherit pypi setuptools3
 
@@ -16,6 +15,7 @@ RDEPENDS:${PN} += "\
     ${PYTHON_PN}-coloredlogs \
     ${PYTHON_PN}-distlib \
     ${PYTHON_PN}-empy \
+    ${PYTHON_PN}-packaging \
 "
 
 # The pytest dependencies are optional:

meta-ros-common/recipes-devtools/colcon/python3-colcon-defaults_0.2.5.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-defaults_0.2.8.bb

@@ -4,7 +4,7 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI[sha256sum] = "ac40fc4ec85cc0633d6c56aa6ebb43203c373cd919d554b1f07fb8f27fdaa2d2"
+SRC_URI[sha256sum] = "053e8a18fbae04cf182a2968d7f7ed474c5125bf3b306b8049250574f4096fa1"
 
 inherit pypi setuptools3
 

meta-ros-common/recipes-devtools/colcon/python3-colcon-devtools_0.2.2.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-devtools_0.3.0.bb

@@ -4,7 +4,7 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI[sha256sum] = "6ed3f29052c44e021b64106d5ae338e2b8936ba58c9f1c0496478327973d3f7b"
+SRC_URI[sha256sum] = "34ae3877f60ce04f50acbf11ceadb660e6eaebde837e6d8b035ab9fb8ca36e05"
 
 inherit pypi setuptools3
 

meta-ros-common/recipes-devtools/colcon/python3-colcon-notification_0.2.13.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-notification_0.3.0.bb

@@ -4,7 +4,7 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI[sha256sum] = "6aae1ffe73ae956bcb36e330822cd230a2a88c9181b3170aafd1a446638e69b3"
+SRC_URI[sha256sum] = "c45b898073a8e98c4518333b7587f9ea49ac1bc129a7bc4e1390059057031fb8"
 
 inherit pypi setuptools3
 

meta-ros-common/recipes-devtools/colcon/python3-colcon-output_0.2.12.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-output_0.2.13.bb

@@ -4,7 +4,7 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI[sha256sum] = "a211e9f1f70edb1567c0747532ad222e47799cef25cb863e4a43af4660798b30"
+SRC_URI[sha256sum] = "44d2d349ebdb61688b41e00d565ea1a199e8fc5c2c77af279cfaac74dc01c04d"
 
 inherit pypi setuptools3
 

meta-ros-common/recipes-devtools/colcon/python3-colcon-package-information_0.3.3.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-package-information_0.4.0.bb

@@ -4,7 +4,7 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI[sha256sum] = "db0b1200bfec91fcf396d9d7671eb410f0eb5a18a0819f778f335ebac82e0b9e"
+SRC_URI[sha256sum] = "20f5184ae1b05db0a76f244bc85622f6b25e48ef7398f55784ccfe455d40bcfb"
 
 inherit pypi setuptools3
 

meta-ros-common/recipes-devtools/colcon/python3-colcon-parallel-executor_0.2.4.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-parallel-executor_0.3.0.bb

@@ -4,7 +4,7 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI[sha256sum] = "6c04ec240ce0a6b6bae69b13d8859ea1eac03469424fa220be43a99e7d1d3123"
+SRC_URI[sha256sum] = "e7137fcaf4c61db792955fd641bfad7dbad4b41928c6b81ff87a78339e116644"
 
 inherit pypi setuptools3
 

meta-ros-common/recipes-devtools/colcon/python3-colcon-python-setup-py_0.2.7.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-python-setup-py_0.2.9.bb

@@ -4,7 +4,7 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI[sha256sum] = "eec293085c4301797706d9e61634fa0cb2136be9b820aa556b2b8baa0bde412d"
+SRC_URI[sha256sum] = "4d8bab2e05ba334e29eee3715fbde490281342ed8e000e252130e5c51915383a"
 
 inherit pypi setuptools3
 

meta-ros-common/recipes-devtools/colcon/python3-colcon-recursive-crawl_0.2.1.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-recursive-crawl_0.2.3.bb

@@ -4,7 +4,7 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI[sha256sum] = "80a11b3a203960aff4187e9b562930ffe4bb54c061178ae1daedbf06b6da1b96"
+SRC_URI[sha256sum] = "fca5f619214d20306daaf012f91399d4d3b605364b121e5df80399432c55c603"
 
 inherit pypi setuptools3
 

meta-ros-common/recipes-devtools/colcon/python3-colcon-ros_0.3.21.bb → meta-ros-common/recipes-devtools/colcon/python3-colcon-ros_0.5.0.bb

@@ -4,7 +4,7 @@ SECTION = "devel/python"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://setup.cfg;beginline=22;endline=22;md5=3d0bd1ac53c1dd582844ed15eee7f8e2"
 
-SRC_URI[sha256sum] = "9dccfa4bce1a18a06e1edcd589aa287e1807afc853af26c25e716830a8b6eaa3"
+SRC_URI[sha256sum] = "79a7e89f6fa636f7e4fd44a88b7860fb1da99d51f0ba7bcf0b9b624a1a578365"
 
 inherit pypi setuptools3
 

meta-ros-common/recipes-devtools/dartsim/dartsim/fix-pkgconfig-cflags.patch

@@ -0,0 +1,19 @@
+Use includedir to avoid host contamination
+
+The dart pkgconfig contains CMAKE_CXX_FLAGS which contains paths from the
+build host.  Set Cflags to includedir for a better default value.
+
+Upstream-Status: Pending
+
+Signed-off-by: Rob Woolley <[email protected]>
+
+diff --git a/cmake/dart.pc.in b/cmake/dart.pc.in
+index 402c496c4298..31e0a80c5c4d 100644
+--- a/cmake/dart.pc.in
++++ b/cmake/dart.pc.in
+@@ -9,4 +9,4 @@ Description: @DART_PKG_DESC@
+ Version: @DART_VERSION@
+ Requires: @DART_PKG_EXTERNAL_DEPS@
+ Libs: -L${libdir} -ldart
+-Cflags: @CMAKE_CXX_FLAGS@
++Cflags: -I${includedir}

meta-ros-common/recipes-devtools/dartsim/dartsim/python3-fixes.patch

@@ -0,0 +1,42 @@
+Replace outdated distuils.log with logging
+
+Upstream-Status: Pending
+
+Signed-off-by: Rob Woolley <[email protected]>
+
+diff --git a/python/dartpy/CMakeLists.txt b/python/dartpy/CMakeLists.txt
+index b316e8671479..6e9e92089cdb 100644
+--- a/python/dartpy/CMakeLists.txt
++++ b/python/dartpy/CMakeLists.txt
+@@ -7,8 +7,7 @@
+ # This file is provided under the "BSD-style" License
+
+ execute_process(COMMAND ${Python3_EXECUTABLE} -c
+-  "from distutils.sysconfig import get_python_lib;\
+-  print(get_python_lib(plat_specific=True))"
++  "import sysconfig; print(sysconfig.get_path('platlib'))"
+   OUTPUT_VARIABLE PYTHON_SITE_PACKAGES
+   OUTPUT_STRIP_TRAILING_WHITESPACE
+ )
+diff --git a/setup.py b/setup.py
+index e24332b0bd9c..ed5a6388514d 100644
+--- a/setup.py
++++ b/setup.py
+@@ -4,7 +4,7 @@
+ # References:
+ # - https://pybind11.readthedocs.io/en/stable/compiling.html
+
+-import distutils.log
++import logging
+ import os
+ import re
+ import subprocess
+@@ -32,7 +32,7 @@ with open(os.path.join(dart_root, "README.md"), encoding="utf-8") as f:
+     long_description = f.read()
+ description = "Python API of Dynamic Animation and Robotics Toolkit."
+
+-distutils.log.set_verbosity(distutils.log.DEBUG)  # Set DEBUG level
++logging.basicConfig(level=logging.DEBUG) # Set DEBUG level
+
+
+ # A CMakeExtension needs a sourcedir instead of a file list.