Add industrial profile

.gitmodules

@@ -38,3 +38,6 @@
 [submodule "meta-yocto"]
 	path = meta-yocto
 	url = https://git.yoctoproject.org/git/meta-yocto
+[submodule "meta-ros"]
+	path = meta-ros
+	url = https://github.com/bmwcarit/meta-ros.git

doc/industrial-profile.rst

@@ -0,0 +1,67 @@
+Industrial Robotics profile
+###########################
+
+Introduction
+============
+
+The purpose of the industrial profile is to provide a solid base for
+developing robotics applications that can be used for labour automation in
+manufacturing, logistics and other domains.
+
+Target audience
+===============
+
+The profile is for anybody who is interested in developing such applications
+on top of Intel hardware. The main use cases are:
+
+#. Welding/Soldering;
+#. Material handling;
+#. Dispensing/Coating;
+#. Pick and place.
+
+However combined with the computer vision profile they can be extended to
+other applications like drones, self-driving cars, agricultural robots etc.
+
+Value proposition
+=================
+
+Industrial Robotics profile is made to simplify creation of products using
+robotics technologies and is tailored for embedded hardware. Being a part of
+Yocto layer it provides full control over build configuration. Unlike
+other robotics projects the profile is independent from external binary
+package streams.
+
+Key components
+==============
+
+So far the `ROS Industrial`_ (ROS-I) project has been identified as a starting
+point for the base and this profile includes core packages from the project
+and their direct dependencies.
+
+ROS-I is a layer between `ROS`_ (a set of software libraries and tools used
+in robot applications) and industrial hardware equipment converting
+messages in ROS formats to something understandable by actual hardware.
+Although no vendor specific packages are included at the moment.
+
+Currently the profile includes:
+
+- core ROS components,
+- libraries for handling geometry and kinematics models of robots in
+  the URDF format,
+- components from the `MoveIt!`_ framework responsible for a robot's
+  joints movement planning,
+- core ROS-I components used for interfacing with real robot hardware.
+
+Due to the embedded nature of IoT Refkit no GUI components have been included
+in the profile. Users are expected to run ROS GUI nodes (e.g. Rviz) on
+their workstations if there's such a need.
+
+For detailed usage instructions please refer `ROS Industrial tutorials`_
+
+The ``meta-refkit-extra`` layer contains example ROS applications and
+detailed instructions on how to run them.
+
+.. _ROS Industrial: http://rosindustrial.org
+.. _ROS: http://ros.org
+.. _MoveIt!: http://moveit.ros.org
+.. _ROS Industrial tutorials: http://wiki.ros.org/Industrial/Tutorials

doc/profiles.rst

@@ -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 tools for industrial use cases, i.e. ROS Industrial packages intended to be used in industrial robotics applications.

meta-refkit-core/conf/distro/include/refkit-config.inc

@@ -47,6 +47,9 @@ REFKIT_DEFAULT_DISTRO_FEATURES += "refkit-firewall"
 # Reconfigure several upstream recipes for the computer vision profile.
 REFKIT_DEFAULT_DISTRO_FEATURES += "refkit-computervision"
 
+# Reconfigure several upstream recipes for the industrial profile.
+REFKIT_DEFAULT_DISTRO_FEATURES += "refkit-industrial"
+
 # Misc recipe changes for the Refkit distro. May also be useful
 # for distros not called "refkit" and thus has its own DISTRO_FEATURE and
 # "refkit-config" override.

meta-refkit-core/conf/distro/include/refkit-overrides.inc

@@ -8,6 +8,7 @@ DISTROFEATURES2OVERRIDES += " \
     refkit-firewall \
     refkit-computervision \
     refkit-gateway \
+    refkit-industrial \
 "
 
 INHERIT += "distrooverrides"

meta-refkit-core/conf/distro/include/refkit_security_flags.inc

@@ -15,6 +15,11 @@ SECURITY_CFLAGS_pn-tbb = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
 SECURITY_CFLAGS_pn-protobuf = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
 SECURITY_CFLAGS_pn-glog = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
 SECURITY_CFLAGS_pn-clang = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
+SECURITY_CFLAGS_pn-log4cxx = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
+SECURITY_CFLAGS_pn-python3-lxml = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
+SECURITY_CFLAGS_pn-python3-netifaces = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
+SECURITY_CFLAGS_pn-python3-pyyaml = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
+SECURITY_CFLAGS_pn-moveit-ros-perception = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
 
 # openjdk-8 ends up linking with "-shared -pie -fpie" in some cases (see
 # hotspot/make/linux/makefiles/saproc.make) which then tries (and fails) to
@@ -30,3 +35,4 @@ SECURITY_STRINGFORMAT_pn-giflib = ""
 SECURITY_STRINGFORMAT_pn-gsignond = ""
 SECURITY_STRINGFORMAT_pn-openjdk-8 = ""
 SECURITY_STRINGFORMAT_pn-openjre-8 = ""
+SECURITY_STRINGFORMAT_pn-qhull = ""

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

@@ -1,12 +1,26 @@
 caffe@refkit-extra
+household-objects-database-msgs@ros-layer
 hdf5@refkit-extra
 leveldb@openembedded-layer
 lmdb@refkit-extra
+manipulation-msgs@ros-layer
+moveit-kinematics@ros-layer
+moveit-planners-ompl@ros-layer
+moveit-ros-manipulation@ros-layer
+moveit-ros-move-group@ros-layer
+moveit-simple-controller-manager@ros-layer
+ompl@ros-layer
 openblas@refkit-extra
 python3-imageio@refkit-extra
 python3-pillow@refkit-extra
 python3-protobuf@refkit-extra
 python3-pycparser@meta-python
 python3-pyrealsense@refkit-extra
 python3-six@core
+refkit-ros-tests@refkit-extra
+robot-state-publisher@ros-layer
 snappy@refkit-extra
+std-srvs@ros-layer
+tf2-kdl@ros-layer
+uarmmetal-moveit-config@refkit-extra
+uarmmetal-support@refkit-extra

meta-refkit-extra/conf/distro/include/refkit_extra_security_flags.inc

@@ -2,3 +2,4 @@ SECURITY_CFLAGS_pn-python3-pillow = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CF
 SECURITY_CFLAGS_pn-snappy = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
 SECURITY_CFLAGS_pn-leveldb = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
 SECURITY_CFLAGS_pn-python3-pyrealsense = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
+SECURITY_CFLAGS_pn-moveit-planners-ompl = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"

meta-refkit-extra/doc/robotics-helloworld.rst

@@ -0,0 +1,51 @@
+Introduction
+============
+
+The core of the ROS project is a XMLRPC-based publisher-subscriber
+middleware. This instruction documents how to run a simple ROS
+application in IoT Refkit. The application is documented in
+the `Writing a Simple Publisher and Subscriber`_ tutorial.
+
+How to run
+==========
+
+1. Create an image containing the package `refkit-ros-tests`, e.g. by putting
+   this line in your `local.conf`::
+
+     IMAGE_INSTALL_append = " refkit-ros-tests"
+
+   and running::
+
+     $ bitbake refkit-image-common
+
+2. Start up a QEMU VM with the built image::
+
+     $ runqemu ovmf refkit-image-common wic slirp serial nographic
+
+3. Set up ROS environment in the VM::
+
+     export ROS_ROOT=/opt/ros
+     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/python3.5/site-packages
+     export ROS_MASTER_URI=http://localhost:11311
+     export CMAKE_PREFIX_PATH=/opt/ros/indigo
+     touch /opt/ros/indigo/.catkin
+
+4. Launch all the needed ROS nodes with the command::
+
+     roslaunch refkit_ros_tests helloworld.launch
+
+If everything is correct then two nodes get launched:
+
+- a publisher node sending standard string messages "hello world" to a ROS
+  topic and
+- a subscriber node listening to the topic and exiting upon the
+  message.
+
+As soon as the subscriber node exits all the other nodes should
+exit successfully.
+
+.. _Writing a Simple Publisher and Subscriber: http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28python%29