feat(meta-user): add AMD Kria ROS2 Perception example

.gitmodules

@@ -37,3 +37,6 @@
 [submodule "project/yocto/layers/meta-qt5"]
 	path = project/yocto/layers/meta-qt5
 	url = https://github.com/meta-qt5/meta-qt5.git
+[submodule "project/yocto/layers/meta-user/recipes-apps/kria-ros-perception/files/kria_ros_perception"]
+	path = project/yocto/layers/meta-user/recipes-apps/kria-ros-perception/files/kria_ros_perception
+	url = https://github.com/Xilinx/kria_ros_perception.git

README.md

@@ -9,7 +9,8 @@ A minimal ROS2 with Yocto workspace for learning purpose.
 
 ## Prerequisites
 
-* [extra2000/yocto-toolkit v4.x image](https://github.com/extra2000/yocto-toolkit)
+* [extra2000/yocto-toolkit v5.x image](https://github.com/extra2000/yocto-toolkit)
+* [extra2000/ros2-gazebo11-classic v1.x image](https://github.com/extra2000/ros2-gazebo11-classic)
 * Available disk space: at least 350GB
 * SDCard with at least 4GB.
 * Digilent Analog Discovery 2 for accessing serial console through UART pins.

docs/yocto/common/testing.md

@@ -1,5 +1,8 @@
 # Testing
 
+
+## Simple ROS2 Helloworld Testing
+
 Source ROS2 environment:
 ```
 source /etc/profile.d/ros/setup.bash
@@ -20,6 +23,50 @@ ros2 run ros2_helloworld_python helloworld
 To exit the program, either `CTRL` + `C` or send `0x0A03` (Number) to serial console.
 
 
+## ROS2 Perception Node
+
+SSH into the target device 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. Then, run Rectify and Resize example on the target device:
+```
+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://TARGET_MACHINE:11345 gzclient --verbose
+```
+
+*NOTE: Replace the `TARGET_MACHINE` according to your target device IP address or FQDN.*
+
+
 ## Known Issues
 
 Python examples are broken at the moment due to Yocto Langdale uses `Python3 Setuptools v65.0.2`. See [entry_points install path is now 'bin' instead of 'lib' for setup.py installs](https://github.com/colcon/colcon-core/issues/518) issue. The examples only work with Yocto Honister which uses `Python3 Setuptools v57.4.0`.

project/yocto/layers/meta-user/recipes-apps/kria-ros-perception/perception-2nodes_git.bb

@@ -0,0 +1,77 @@
+inherit ros_distro_humble
+inherit ros_superflore_generated
+
+SUMMARY = "ROS2 Perception Nodes"
+DESCRIPTION = "${SUMMARY}"
+LICENSE = "MIT"
+LIC_FILES_CHKSUM = "file://../../LICENSE;md5=aaa7729bf8823a5d00dc80db2da0f9db"
+
+S = "${WORKDIR}/kria_ros_perception/src/perception_2nodes"
+
+SRC_URI = "\
+    file://kria_ros_perception/ \
+"
+
+ROS_BUILD_TYPE = "ament_python"
+
+ROS_BUILDTOOL_DEPENDS = ""
+
+ROS_BUILD_DEPENDS = " \
+    image-proc \
+    python3-numpy \
+    python3-numpy-native \
+"
+
+ROS_EXEC_DEPENDS = "\
+    rclpy \
+    std-msgs \
+    python3-numpy \
+    gazebo-ros-pkgs \
+    image-pipeline \
+    ros2trace \
+    tracetools \
+    tracetools-launch \
+    tracetools-trace \
+    lttng-modules \
+    lttng-tools \
+    lttng-ust \
+"
+
+ROS_EXPORT_DEPENDS = ""
+
+# Currently informational only -- see http://www.ros.org/reps/rep-0149.html#dependency-tags.
+ROS_TEST_DEPENDS = " \
+    ament-copyright \
+    ament-flake8 \
+    ament-pep257 \
+    python3-pytest \
+    python3-numpy \
+"
+
+ROS_BUILDTOOL_EXPORT_DEPENDS = ""
+
+DEPENDS = "${ROS_BUILD_DEPENDS} ${ROS_BUILDTOOL_DEPENDS}"
+DEPENDS += "${ROS_EXPORT_DEPENDS} ${ROS_BUILDTOOL_EXPORT_DEPENDS}"
+RDEPENDS:${PN} += "${ROS_EXEC_DEPENDS}"
+
+inherit ros_${ROS_BUILD_TYPE}
+
+FILES:${PN}:append = " \
+    /usr/share/perception_2nodes \
+    /usr/share/perception_2nodes/package.xml \
+    /usr/share/perception_2nodes/launch \
+    /usr/share/perception_2nodes/models \
+    /usr/share/perception_2nodes/worlds \
+    /usr/share/perception_2nodes/launch/simulation.launch.py \
+    /usr/share/perception_2nodes/launch/trace_rectify_resize.launch.py \
+    /usr/share/perception_2nodes/launch/trace_rectify_resize_fpga_streamlined.launch.py \
+    /usr/share/perception_2nodes/models/camera-plugin \
+    /usr/share/perception_2nodes/models/camera-plugin/model.config \
+    /usr/share/perception_2nodes/models/camera-plugin/model_distorted.sdf \
+    /usr/share/perception_2nodes/models/camera-plugin/model_undistorted.sdf \
+    /usr/share/perception_2nodes/worlds/camera.world \
+    /usr/share/perception_2nodes/worlds/camera_dynamic.world \
+    /usr/share/perception_2nodes/worlds/camera_dynamic_hd.world \
+    /usr/share/perception_2nodes/worlds/camera_dynamic_undistorted.world \
+    /usr/share/perception_2nodes/worlds/camera_simple.world \
+"

project/yocto/layers/meta-user/recipes-images/images/ros2-image.bb

@@ -92,6 +92,7 @@ ROS_SYSROOT_BUILD_DEPENDENCIES = " \
 USER_APPS = " \
     ros2-helloworld-cpp \
     ros2-helloworld-python \
+    perception-2nodes \
 "
 
 NETWORKING = " \