Add industrial profile #49

rojkov · 2017-02-27T09:02:19Z

No description provided.

rojkov · 2017-02-27T10:12:58Z

Oops... Turned out this PR depends on ros/meta-ros#457 and one more new commit in meta-openembedded (http://cgit.openembedded.org/meta-openembedded/commit/?id=e8d5a1bb6a022172246f095aca0979ab5a6bd2ed).

mythi · 2017-03-20T09:34:59Z

@rojkov looks like svn is needed in HOSTTOOLS to get builds ongoing.

rojkov · 2017-03-20T15:07:45Z

test this please

rojkov · 2017-03-31T04:36:03Z

test this please

rojkov · 2017-04-07T07:13:00Z

test this please
(dropped python-empy)

rojkov · 2017-04-07T07:30:09Z

test this please

okartau · 2017-04-07T08:26:11Z

test this please. I dont know why some requests fail to trigger build

rojkov · 2017-04-20T06:06:46Z

test this please

rojkov · 2017-05-08T12:54:17Z

rebased to the latest Drop dependency on python2 #109 and meta-ros;
force pushed.

refkit-ci · 2017-05-26T09:48:29Z

Can one of the admins verify this patch?

rojkov · 2017-05-30T11:51:52Z

made this PR independent from Drop dependency on python2 #109 again;
updated meta-ros;
added demos to meta-refkit-extra;
more detailed doc/industrial-profile.rst
rebased and force pushed.

gvancuts · 2017-05-30T12:21:23Z

doc/industrial-profile.rst

+#. Pick and place.
+
+However combined with the computer vision profile they can be extended to
+other applications like drons, self-driving cars, agricultural robots etc.


s/drons/drones

gvancuts · 2017-05-30T12:22:45Z

doc/industrial-profile.rst

+  joints movement planning,
+- core ROS-I components used for interfacing with real robot hardware.
+
+Due to the embedded nature of Refkit no GUI components have been included


Should we use 'IoT RefKit' instead of 'Refkit'?

gvancuts · 2017-05-30T12:25:00Z

doc/industrial-profile.rst

+
+For detailed usage instructions please refer `ROS Industrial tutorials`_
+
+How to use


Does this section apply to the platform running the IoT RefKit?

gvancuts · 2017-05-30T12:26:09Z

meta-refkit-extra/doc/robotics-uarm-metal.rst

+
+G205 <base_angle> <left_angle> <right_angle> <hand_angle>
+   Set position for all four servos. The code accepts four parameters which
+   are PWM signal widths for the respective servos in miliseconds.


s/miliseconds/milliseconds

gvancuts · 2017-05-30T12:27:41Z

meta-refkit-extra/doc/robotics-uarm-metal.rst

+Setting up
+==========
+
+1. Make sure you have installed the packages `uarmmeta--moveit-config`,


How can one check if they are installed and install them if they are not?

rojkov · 2017-05-31T09:07:51Z

addressed @gvancuts 's review comments;
rebased.

ipuustin · 2017-06-13T14:03:04Z

...efkit/recipes-ros/control-toolbox/control-toolbox/0001-Switch-from-TinyXML-to-TinyXML2.patch

+Date: Thu, 26 Jan 2017 14:42:31 +0200
+Subject: [PATCH] Switch from TinyXML to TinyXML2
+
+Upstream-Status: Inappropriate [ROS won't move to TinyXML2 until kinetic]


What is kinetic?

ipuustin · 2017-06-13T14:04:13Z

...os/moveit/moveit-ros-planning/0002-moveit_ros-planning-Use-TinyXML2-instead-of-TinyXML.patch

+Date: Wed, 25 Jan 2017 11:06:58 +0200
+Subject: [PATCH 2/2] moveit_ros/planning: Use TinyXML2 instead of TinyXML
+
+Upstream-Status: Inappropriate [TinyXML2 is WONTFIX in indigo-devel]


Add a link here to the issue. At least I'm interested if we can ever upstream this... I don't even know what is indigo-devel.

ipuustin · 2017-06-13T14:04:45Z

...s-control/controller-manager/0001-controller_manager-drop-unused-inclusion-of-tinyxml..patch

+Date: Thu, 26 Jan 2017 14:30:04 +0200
+Subject: [PATCH] controller_manager: drop unused inclusion of tinyxml.h
+
+Upstream-Status: Submitted [https://github.com/ros-controls/ros_control/pull/261]


Merged also.

ipuustin · 2017-06-13T14:06:40Z

meta-refkit/conf/distro/include/refkit-supported-recipes.txt

 iftop@networking-layer
 image-transport@ros-layer
+industrial-msgs@ros-layer
+industrial-robot-client@ros-layer


It might make sense to merge this patch with the previous one that was changing the same file.

ipuustin · 2017-06-13T14:08:01Z

meta-refkit/recipes-core/packagegroups/packagegroup-industrial.bb

+inherit packagegroup
+
+SUMMARY_${PN} = "IoT Reference OS Kit Industrial Robotics profile"
+RDEPENDS_${PN} = "\


Do you need a separate packagegroup for development images? Or are the packages the same in both?

ipuustin · 2017-06-13T14:09:32Z

meta-refkit/recipes-ros/cv-bridge/cv-bridge_%.bbappend

@@ -0,0 +1,3 @@
+# TODO: This way cv_bridge doesn't require libboost_python, but this tweak
+#       should be dropped after ROS is compatible with python3-only distro.
+EXTRA_OECMAKE += "-DANDROID=ON"


Hmm, the next patch says: switch ROS to python3 . Is it python3-compatible or not?

ipuustin · 2017-06-13T14:12:25Z

I think the PR should be amended with the changes in patch meta-refkit-industrial: make the layer Yocto 2.0 compatible, and then the patch should be dropped. The patches shouldn't fix previous patches in the same PR.

mythi · 2017-06-14T04:49:06Z

On Tue, Jun 13, 2017 at 5:12 PM, Ismo Puustinen wrote: I think the PR should be amended with the changes in patch meta-refkit-industrial: make the layer Yocto 2.0 compatible, and then the patch should be dropped. The patches shouldn't fix previous patches in the same PR.

+1 btw, it'd be easy to add meta-refkit-industrial for compatibility checking too (see the automatically generated tests in refkit-poky.py)

rojkov · 2017-06-14T13:19:27Z

Initially I thought that the layer might have packages unrelated to robotics, e.g. LinuxCNC or MachineKit. I wouldn't like to narrow the scope still.

…

On Tue, Jun 13, 2017 at 2:58 PM, Ismo Puustinen ***@***.***> wrote: ***@***.**** commented on this pull request. ------------------------------ In doc/profiles.rst <#49 (comment)>: > @@ -61,3 +61,4 @@ Profile Summary #. refkit-image-common: A configuration with interactive tools but without any special software in it. Recommended target if you are not interested in any given profile. #. refkit-image-computervision: A profile with tools and configuration for computer vision use cases. #. refkit-image-gateway: A profile with tools and configuration for acting as an IoT sensor. +#. refkit-image-industrial: A profile with core ROS Industrial packages intended to be used as a base for industrial robotics use cases. This is just a thought, but should the image (and profile) rather be called industrial-robotics? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#49 (review)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AACCYQH2GFUXRLG6PAYoM6Cw_VIKOsY6ks5sDnlSgaJpZM4MM2Pt> .

rojkov · 2017-06-14T13:20:35Z

Yes. @Mynti asked to include them explicitly to built targets in the scope of this PR.

…

On Tue, Jun 13, 2017 at 3:03 PM, Ismo Puustinen ***@***.***> wrote: ***@***.**** commented on this pull request. ------------------------------ In meta-refkit/conf/distro/include/refkit-ci.inc <#49 (comment)>: > @@ -59,9 +59,15 @@ REFKIT_CI_POSTBUILD_SELFTESTS="secureboot refkit-poky refkit-license-check image # Any other symbols would be skipped in parser. # # Following targets would be used to perform default build task. -# When adding new profile images, add them to refkit-installer-image.bb -# and they will get pulled into the build indirectly. -REFKIT_CI_BUILD_TARGETS="refkit-image-minimal refkit-installer-image swtpm-wrappers-native ovmf" +REFKIT_CI_BUILD_TARGETS=" \ + refkit-image-minimal \ + refkit-image-computervision \ + refkit-image-gateway \ Are refkit-image-computervision and refkit-image-gateway added on purpose? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#49 (review)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AACCYamK9otIv7YJkZDW616dPg0NFR4tks5sDnqvgaJpZM4MM2Pt> .

rojkov · 2017-06-14T13:24:08Z

I must confess I don't fully understand what you imply here. I just tried to follow the way how packages are included in other profiles' images. Mindlessly though.

…

On Tue, Jun 13, 2017 at 5:08 PM, Ismo Puustinen ***@***.***> wrote: ***@***.**** commented on this pull request. ------------------------------ In meta-refkit/recipes-core/packagegroups/packagegroup-industrial.bb <#49 (comment)>: > @@ -0,0 +1,14 @@ +SUMMARY = "IoT Reference OS Kit Industrial Robotics profile package groups" +LICENSE = "MIT" +PR = "r1" + +inherit packagegroup + +SUMMARY_${PN} = "IoT Reference OS Kit Industrial Robotics profile" +RDEPENDS_${PN} = "\ Do you need a separate packagegroup for development images? Or are the packages the same in both? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#49 (review)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AACCYRcFnciUxYJj8UwZDy2LMm26v1XYks5sDpfCgaJpZM4MM2Pt> .

rojkov · 2017-06-14T13:34:30Z

Thanks @ipuustin for the review!

split commits adding profile images to build targets;
reorganized the PR not to fix commits in the same PR (the new layer is Yocto 2.0 compatible from the beginning now);
updated and added missing references to upstream submissions for the "Switch from TinyXML to TinyXML2" patch set;
dropped some patches as the packages they change have been excluded from the profile and are not used in the demos;
clarified the comment in cv-bridge_%.bbappend a bit about python2/3 compatibility in future ROS;
force pushed.

Arthil · 2017-06-15T13:22:04Z

There was a problem in CI, where one of the boards froze at test phase. Should be fixed now.
Test this please.

mythi · 2017-06-16T08:41:39Z

@rojkov looks nice! please rebase and I'll create a combined PR

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

The override is going to be used for conditional reconfigurations of packages added by the industrial profile. Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

since it's maintained better than deprecated TinyXML. The patch set is not going to be merged to the upstream ROS layer because only ROS Indigo release is maintained in the layer currently. In ros/rospack#62 it was suggested that the packages in the ROS Indigo release are not going to switch to TinyXML2, but it may happen in future releases. Also a comment in ros/urdfdom_headers#35 suggests that the switch is precluded by the fact TinyXML types are widely used in urdfdom's public API thus requires fixing all downstream packages which can be difficult if possible at all. Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

…itly Profile images get built in CI only because they export tests. This change makes them build targets explicitly. Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

Also include a HOWTO doc on how to set up the demo. Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

bulwahn mentioned this pull request Feb 28, 2017

librealsense: drop the recipe ros/meta-ros#457

Merged

rojkov force-pushed the ros-public branch from 9f601a5 to e2ac169 Compare March 20, 2017 07:41

rojkov force-pushed the ros-public branch from 1522a76 to e14dbbe Compare March 31, 2017 04:33

rojkov force-pushed the ros-public branch from e14dbbe to e144b96 Compare April 7, 2017 07:11

rojkov force-pushed the ros-public branch from e144b96 to 2a384a3 Compare April 19, 2017 13:18

rojkov force-pushed the ros-public branch from d81d848 to 1196398 Compare April 26, 2017 07:08

rojkov changed the title ~~Add industrial profile~~ TEST: Add industrial profile Apr 26, 2017

rojkov force-pushed the ros-public branch 3 times, most recently from 0aded9c to 0fbfdf6 Compare May 2, 2017 05:19

rojkov changed the title ~~TEST: Add industrial profile~~ Add industrial profile May 4, 2017

rojkov force-pushed the ros-public branch from 0fbfdf6 to 50e9a8d Compare May 8, 2017 12:52

rojkov force-pushed the ros-public branch from 50e9a8d to ca644de Compare May 18, 2017 06:25

rojkov force-pushed the ros-public branch 3 times, most recently from 5601ac0 to 0abd6f8 Compare May 30, 2017 09:58

gvancuts reviewed May 30, 2017

View reviewed changes

rojkov force-pushed the ros-public branch from 0abd6f8 to 650ee3b Compare May 31, 2017 09:03

ipuustin reviewed Jun 13, 2017

View reviewed changes

rojkov force-pushed the ros-public branch from 4ac6b83 to 8d6157d Compare June 14, 2017 13:24

Dmitry Rozhkov added 13 commits June 16, 2017 11:44

intel-iot-refkit: pull in latest meta-ros

c1dee48

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

meta-refkit-industrial: add initial version of industrial profile

d4620b8

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

meta-refkit-core: introduce refkit-industrial override

fee9e64

The override is going to be used for conditional reconfigurations of packages added by the industrial profile. Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

refkit-supported-recipes.txt: add supported ROS packages

2044187

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

meta-refkit-core: tweak security CFLAGS to compile ROS packages

6892919

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

refkit.conf: make ROS to use python3

614e9d5

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

meta-refkit-industrial: avoid dependency on python2 in cv-bridge

41d631a

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

intel-iot-refkit: add doc for industrial profile

21029b7

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

refkit-ci.inc: make images for existing profiles build targets explic…

2f6726d

…itly Profile images get built in CI only because they export tests. This change makes them build targets explicitly. Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

refkit-ci.inc: add refkit-image-industrial to build targets

353f9d9

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

meta-refkit-extra: add ROS helloworld example package

e42c96a

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

meta-refkit-extra: add packages for ROS and uArm Metal demo

5a17eb6

Also include a HOWTO doc on how to set up the demo. Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

rojkov force-pushed the ros-public branch from 8d6157d to 5a17eb6 Compare June 16, 2017 09:43

mythi merged commit ab3ce6e into intel:master Jun 16, 2017


		For detailed usage instructions please refer `ROS Industrial tutorials`_

		How to use

Add industrial profile #49

Add industrial profile #49

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ipuustin commented Jun 13, 2017

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