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ROS Layer for OpenEmbedded Linux
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Latest commit 63ebe5b @bulwahn bulwahn Merge pull request #373 from rapyuta/update_python_rospkg
python-rospkg: updating to 1.0.38

This is a layer to provide ROS Indigo Igloo in an OpenEmbedded Linux system. It provides a stable cross-compilation build system for many common ROS packages. Currently, this layer is still under continuous development.





We are still working on this development and are interested in other use cases. If you are interested in this project, please contact us via email. The more people are interested, the more we will be pushing this project. If you want to contribute, please contact us and we can discuss open issues and how to join forces.


This layer depends on:

URI: git://
subdirectory: meta
branch: master
revision: HEAD

meta-openembedded (meta-oe)
URI: git://
subdirectory: meta-oe
branch: master
revision: HEAD

meta-python (since a6d7ba92645a112af358efd94ff3aa0c74985a51@meta-openembedded)
URI: git://
subdirectory: meta-python
branch: master
revision: HEAD

meta-multimedia (since fe44ac167a2a76531af3519f3889fce92024567b@meta-openembedded)
URI: git://
subdirectory: meta-multimedia
branch: master
revision: HEAD

bitbake > 1.20


Here, we list which parts of this layer depend on recent commits in the bitbake, openembedded-core and meta-openembedded repositories. Using git blame on the lines below, you can find the commits in meta-ros that rely on the remote commits. In case of porting to other versions, you must possibly revert some of those commits.

cv-bridge and dependent recipes, e.g., the image-transport recipes, depend on 7568bfdd114597956a1da68746f207ec7f93a48d@openembedded-core. For native python-numpy support, these recipes also depend on c13c5f40160d289bb62538a16900fed30621cb22@meta-openembedded or on 9bf355cceaec6ebacdcbcc35f9713ff73e1c85da@openembedded-core.

Some recipes that need the Eigen library, e.g., the pcl-ros recipe, depend on 424e3c1b930c0103c2cedfd4df1671e84a5256d5@meta-openembedded.

Using wildcards in bbappend versions part in name depends on 31bc9af9cd56e7b318924869970e850993fafc5f@bitbake and 991cbeedbde8bd25ce08c669b1bfac8b99e33149@bitbake.

octomap-ros and collada-urdf depend on 43073569cb67d98c11aa71211d77b566b64f9145@openembedded-core and 783fb88f476c94d5d4f4b954f7053464d9a6dff5@openembedded-core.

urdfdom-py depends on the meta-python layer since a6d7ba92645a112af358efd94ff3aa0c74985a51@meta-openembedded.


The repository contains a layer for ROS that builds on top of the OpenEmbedded Core layer and the meta-oe layer.

We try our best to keep up with the development of the current HEAD of the layers mentioned above. If you notice any problems with the current HEAD, please report this in our issue tracker.

You can use this layer with earlier versions of the layers mentioned above and their release branches, dora and daisy, with a few minor adjustments. The section "dependencies on recent commits" in this file provides a few pointers to adjust this layer for other versions.


Initialize the build environment:

source oe-init-build-env

Add the required layers (see DEPENDENCIES) by modifying ./conf/bblayers.conf (adjust /home/me/devel as necessary):

/home/me/devel/openembedded-core/meta \
/home/me/devel/meta-openembedded/meta-oe \
/home/me/devel/meta-openembedded/meta-python \
/home/me/devel/meta-openembedded/meta-multimedia \
/home/me/devel/meta-ros \

Compile package:

bitbake <package-name>

The recipe core-image-ros-roscore provides a minimal Linux system that runs roscore.

You can compile the minimal Linux system with

bitbake core-image-ros-roscore

Then for example, you start this system in the qemu virtual machine with

runqemu <MACHINE> core-image-ros-roscore

On the Linux system, ensure that the own host's name in resolved by adding   <HOSTNAME>.localdomain      <HOSTNAME>

to the /etc/hosts file, and set up the environment with

export ROS_ROOT=/opt/ros/indigo
export ROS_DISTRO=indigo
export ROS_PACKAGE_PATH=/opt/ros/indigo/share
export PATH=$PATH:/opt/ros/indigo/bin
export LD_LIBRARY_PATH=/opt/ros/indigo/lib
export PYTHONPATH=/opt/ros/indigo/lib/python2.7/site-packages
export ROS_MASTER_URI=http://localhost:11311
export CMAKE_PREFIX_PATH=/opt/ros/indigo
touch /opt/ros/indigo/.catkin

Finally, you can start roscore with



The meta-ros layers only includes a subset of the officially released ROS packages, available from The here provided ROS packages are mainly driven by the current users' needs.

For ROS packages that depend on cv-bridge, the commercial license flag must be whitelisted, as cv-bridge depends on opencv, and opencv by default depends on libav that has special terms and conditions when used commercially. This can be done by adding to the local.conf the line:


Alternatively, the dependency from opencv on libav can be explicit excluded by modifying the PACKAGECONFIG setting.


All metadata is MIT licensed unless otherwise stated. Source code included in tree for individual recipes is under the LICENSE stated in each recipe (.bb file) unless otherwise stated. The descriptions in the recipes of ROS packages have been extracted from the ROS wiki ( and are licensed under Creative Commons Attribution 3.0 ( unless otherwise noted.

This README document is Copyright (C) 2012 BMW Car IT GmbH.


The log4cxx recipe originated from the recipe in the OpenEmbedded (Classic) Development (cf. licensed with the MIT License.

The yaml-cpp recipe originated from the recipe in Kartik Mohta's OpenEmbedded layer (cf. licensed with the MIT License.

The libpoco recipe originated from the recipe in digitalSTROM's OpenEmbedded layer (cf. licensed with the MIT License.

The core-image-ros-* recipes originated from the core-image-minimal recipe in OpenEmbedded Core (cf. licensed with the MIT License.

The original or modified files are redistributed here under the same MIT License.

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