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Raspberry Pi Zero 2 W

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:raspberrypi0-2w-64:ros2-image

Build:

bitbake mc:raspberrypi0-2w-64:ros2-image

To build SDK and extract into [PROJECT_ROOT]/project/yocto/build/sdk-rpizero2-w directory:

bitbake mc:raspberrypi0-2w-64:ros2-image -c populate_sdk
./tmp-glibc/deploy/sdk/oecore-x86_64-cortexa53-toolchain-nodistro.0.sh -d sdk-rpizero2-w

Replace FIXMESTAGINGDIRHOST with project/yocto/build/sdk-rpizero2-w/sysroots in all cmake files in the sdk-rpizero2-w:

find sdk-rpizero2-w -type f -name *.cmake -print0 | xargs -0 sed -i 's,FIXMESTAGINGDIRHOST,'"$(readlink -f sdk-rpizero2-w/sysroots/x86_64-oesdk-linux)"',g'

Flashing to SD Card

Execute the following command:

bzcat project/yocto/build/tmp-glibc/deploy/images/raspberrypi0-2w-64/ros2-image-humble-raspberrypi0-2w-64-*.rootfs.wic.bz2 | sudo dd bs=4M iflag=fullblock oflag=direct status=progress of=/dev/sdX; sudo sync

Testing

Insert SD card and power on Raspberry Pi Zero 2 W. Access serial console and login as yocto user with password yocto. Then, follow Testing instructions.

Cross-Compiling C++ Applications

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

source project/yocto/build/sdk-rpizero2-w/environment-setup-cortexa53-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 22 ./ds-helloworld-cpp yocto@raspberrypi0-2w-64.lan:
ssh -p 22 yocto@raspberrypi0-2w-64.lan
./ds-helloworld-cpp

NOTE: If raspberrypi0-2w-64.lan is not resolvable by your network, you need to replace raspberrypi0-2w-64.lan according to your target device IP address.

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-rpizero2-w/environment-setup-cortexa53-oe-linux
source project/yocto/build/sdk-rpizero2-w/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

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

scp -P 22 ../install/ros2-helloworld-cpp/lib/ros2-helloworld-cpp/main yocto@raspberrypi0-2w-64.lan:
ssh -p 22 yocto@raspberrypi0-2w-64.lan
./main

To cleanup the ros2-helloworld-cpp project:

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