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x86_64

Building

Create container:

podman run -it --rm \
    --network=host \
    --userns="keep-id:uid=1000,gid=1000" \
    -v ${PWD}/project:${PWD}/project:rw \
    --workdir ${PWD}/project/yocto \
    --security-opt label=disable \
    localhost/extra2000/yocto-toolkit:latest \
    bash
source layers/poky/oe-init-build-env build

Check dependencies:

bitbake -p mc:qemux86-64:ros2-image

Build:

bitbake mc:qemux86-64:ros2-image

To build SDK and extract into [PROJECT_ROOT]/project/yocto/build/sdk-qemux86-64 directory:

bitbake mc:qemux86-64:ros2-image -c populate_sdk
./tmp-glibc/deploy/sdk/oecore-x86_64-cortexa57-toolchain-nodistro.0.sh -d sdk-qemux86-64

Replace FIXMESTAGINGDIRHOST with project/yocto/build/sdk-qemux86-64/sysroots in all cmake files in the sdk-qemux86-64:

find sdk-qemux86-64 -type f -name *.cmake -print0 | xargs -0 sed -i 's,FIXMESTAGINGDIRHOST,'"$(readlink -f sdk-qemux86-64/sysroots)"',g'

Testing

The following runqemu commands should be executed using yocto-toolkit Podman container.

To start QEMU with SELinux enforcing, use the following runqemu command:

runqemu \
    qemux86-64 \
    slirp \
    nographic \
    qemuparams="-m 4096 -net nic -net user,hostfwd=tcp:127.0.0.1:1534-:1534,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:2345-:2345"

To start QEMU with SELinux permissive, use the following runqemu command:

runqemu \
    qemux86-64 \
    slirp \
    nographic \
    qemuparams="-m 4096 -net nic -net user,hostfwd=tcp:127.0.0.1:1534-:1534,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:2345-:2345" \
    bootparams="selinux=1 enforcing=0"

NOTE: If the port forwarding doesn't work, try shutdown QEMU, respawn the yocto-toolkit Podman container, and re-execute the same runqemu command again.

Login as yocto user with password yocto. Then follow testing instructions in Testing.

Testing ROS2 Perception Node

Create container with X11 forwarding:

podman run -it --rm \
    -e DISPLAY=$DISPLAY \
    --device=/dev/dri \
    --device=/dev/kvm \
    --network=host \
    --userns="keep-id:uid=1000,gid=1000" \
    -v ${PWD}/project:${PWD}/project:rw \
    --workdir ${PWD}/project/yocto \
    --security-opt label=disable \
    --name=ros2 \
    localhost/extra2000/yocto-toolkit:latest \
    bash
source layers/poky/oe-init-build-env build

Start QEMU with SELinux permissive:

runqemu \
    qemux86-64 \
    kvm \
    nographic \
    slirp \
    qemuparams="-m 4096 -net nic -net user,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:11345-:11345,hostfwd=udp:127.0.0.1:7400-:7400,hostfwd=udp:127.0.0.1:7401-:7401,hostfwd=udp:127.0.0.1:7410-:7410,hostfwd=udp:127.0.0.1:7411-:7411" \
    bootparams="selinux=1 enforcing=0"

SSH into QEMU and run simulation:

source /etc/profile.d/ros/setup.bash
DISPLAY=:0 GAZEBO_RESOURCE_PATH="/usr/share/gazebo-11:/usr/share/OGRE/Media/ShadowVolume" ros2 launch perception_2nodes simulation.launch.py headless:='True'

Open another terminal and SSH into QEMU. Then, run Rectify and Resize example:

source /etc/profile.d/ros/setup.bash
DISPLAY=:0 GAZEBO_RESOURCE_PATH="/usr/share/gazebo-11:/usr/share/OGRE/Media/ShadowVolume" ros2 launch perception_2nodes trace_rectify_resize.launch.py

On host, allow X11 forwarding from local non-network connections:

xhost +local:

Then execute the following command:

podman run -it --rm \
    -e DISPLAY=$DISPLAY \
    --device=/dev/dri \
    --network=host \
    --userns="keep-id:uid=1000,gid=1000" \
    --security-opt label=disable \
    --name=ros2-workstation \
    localhost/extra2000/ros2-gazebo11-classic:latest \
    bash
source /opt/ros/humble/setup.bash
rqt

Open another terminal and execute the following command:

podman exec -it ros2-workstation bash
source /opt/ros/humble/setup.bash
GAZEBO_MASTER_URI=http://127.0.0.1:11345 gzclient --verbose

Cross-Compiling C++ Applications

Open a new terminal and execute the following command (without using Podman):

source project/yocto/build/sdk-qemux86-64/environment-setup-cortexa57-oe-linux
cd project/yocto/layers/meta-user/recipes-apps/datastruct-cpp/files
mkdir -pv build
cd build
cmake \
    -G "Eclipse CDT4 - Unix Makefiles" \
    -DCMAKE_BUILD_TYPE=Debug \
    ../datastruct-cpp
make -j $(($(nproc) -1))

Execute the following command to upload to QEMU and execute the binary:

scp -P 22222 ./ds-helloworld-cpp yocto@127.0.0.1:
ssh -p 22222 yocto@127.0.0.1
./ds-helloworld-cpp

To cleanup the datastruct-cpp project:

cd ..
rm -rf ./build/

Cross-Compiling ROS2 C++ Applications

Open a new terminal and execute the following command (without using Podman):

source project/yocto/build/sdk-qemux86-64/environment-setup-cortexa57-oe-linux
source project/yocto/build/sdk-qemux86-64/sysroots/x86_64-oesdk-linux/etc/profile.d/ros/setup.bash
cd project/yocto/layers/meta-user/recipes-apps/ros2-helloworld-cpp/files/ros2-helloworld-cpp/
colcon \
    --log-base ../log \
    build \
    --build-base ../build \
    --install-base ../install \
    --cmake-args \
    -G "Eclipse CDT4 - Unix Makefiles" \
    -DPython3_FIND_STRATEGY=LOCATION \
    -DBUILD_TESTING=OFF

Within the yocto-toolkit Podman container, start QEMU using the following command:

runqemu \
    qemux86-64 \
    slirp \
    nographic \
    qemuparams="-m 4096 -net nic -net user,hostfwd=tcp:127.0.0.1:1534-:1534,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:2345-:2345" \
    bootparams="selinux=1 enforcing=0"

From host, execute the following command to upload to QEMU and execute the binary:

scp -P 22222 ../install/ros2-helloworld-cpp/lib/ros2-helloworld-cpp/main yocto@127.0.0.1:
ssh -p 22222 yocto@127.0.0.1
./main

To cleanup the ros2-helloworld-cpp project:

rm -rf ../build/ ../install/ ../log/