robostack-wasm

This repo contains tools and documentation created while implementing a WebAssembly compile target for RoboStack.

The scripts depend on forks of Vinca, robostack, and emscripten forge.

To get started clone the dependencies,

• git clone https://github.com/mbatc/emscripten-forge-recipes
• git clone https://github.com/mbatc/ros-humble
• git clone https://github.com/mbatc/vinca.git

and create 3 files, .emforge-dir, .robostack-dir, and .vinca-dir containing the path to each repo. e.g.

echo -n PATH_TO_EMSCRIPTENT_FORGE_REPO > .emforge-dir
echo -n PATH_TO_ROBOSTACK_REPO > .robostack-dir
echo -n PATH_TO_VINCA_REPO > .vinca-dir

These are used in the makefile to locate the repos.

Run make help to list helpful commands for generating recipes and building packages.

ROS2 packages I've built using these tools can be found in robostack-wasm.

Docs

• Setup
• Design
• Issues
• Porting Conda Forge Packages

Project Milestones

1. Hello WASM

Date	30/04/2023
Description	A basic c++ application which is cross-compiled to Web Assembly
Location	./hello-wasm/

2. ROS Package

Date	12/05/2023
Description	Cross compiled the rclcpp library to Web Assembly.
Location	./rclcpp-wasm/

3. JupyterLite build

• First, micromamba install -c conda-forge jupyterlite-xeus-python in your emscripten-forge environment
• Then, run jupyter lite build --XeusPythonEnv.empack_config=empack_config.yaml in the ./milestones/rmw-wasm-cpp-example folder