Support humble, galactic Nerves #244
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pojiro
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Sep 8, 2023
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| ## only galactic needs /opt/ros/galactic/lib/aarch64-linux-gnu also, for libddsc | ||
| # -e LD_LIBRARY_PATH=/opt/ros/galactic/lib/aarch64-linux-gnu:/opt/ros/galactic/lib |
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galactic だけ、 /opt/ros/galactic/lib/aarch64-linux-gnu 配下の `libddsc.so*, cyclonedds のライブラリが必要となるのでパスが必要でした。
ただし、 ROS 2 としては humble でも LD_LIBRARY_PATH に追加されています。
※追加されているが、ディレクトリの実体はない
$ docker run --rm -it arm64v8/ros:humble-ros-core /bin/bash
root@206b74edebab:/# env
...
LD_LIBRARY_PATH=/opt/ros/humble/lib/aarch64-linux-gnu:/opt/ros/humble/lib
...
root@206b74edebab:/# ls /opt/ros/humble/lib/aarch64-linux-gnu
ls: cannot access '/opt/ros/humble/lib/aarch64-linux-gnu': No such file or directory
Rclex としては、 galactic でない限り、 /opt/ros/ROS_DISTRO/lib/aarch64-linux-gnu は不要なのでドキュメント上、galactic のみ必要という記載に一旦しました。
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機能面は perfect!! ですが，ドキュメントはちょっと悩ましいですね．humble 前提に絞っても良い気がしています（galactic や foxy で使いたいときは他にも細々と合わせる必要がある）．
いったん merged! として，ドキュメントは v0.9.0 リリース時に私が検討・対応するということでいかがでしょうか？
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いったん merged! として，ドキュメントは v0.9.0 リリース時に私が検討・対応するということでいかがでしょうか？
承知しました。よろしくお願いいたします！
pojiro
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Sep 8, 2023
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| # humble needs OpenSSL 3.x which Nerves doesn't have | ||
| "/lib/#{dir_name}/libssl.so*", | ||
| "/lib/#{dir_name}/libcrypto.so*" |
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Nerves には libssl, libcrypt が存在します（以下 find の結果）が humble が要求する so のバージョンと異なることが分かったため足すようにしています。※これが無いと Rclex.rclex.init/0 で VM が落ちます。
iex(3)> cmd "find / -name 'libssl*'"
/usr/lib/libssl.so
/usr/lib/libssl.so.1.1
iex(4)> cmd "find / -name 'libcrypt*'"
/lib/libcrypt.so.1
/usr/lib/libcrypto.so
/usr/lib/libcrypto.so.1.1
takasehideki
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Sep 11, 2023
**Full Changelog**: v0.8.5...v0.9.0 * New features: * Support Humble (and format with Elixir 1.15.5) by @pojiro in #241 * Support humble, galactic Nerves by @pojiro in #244 * change the recommended environment and versions by @takasehideki in #247 * Add humble support to arm32v7_ros_distros by @pojiro in #248 * Code Improvements/Fixes: * Fix bug of `mix rclex.gen.msgs` by @pojiro in #236 * fix docs about ROS_DISTRO from `foxy` to `humble` by @takasehideki in #249 * Bumps: * Bump ex_doc from 0.29.4 to 0.30.6 by @dependabot in #234 #237 #238 * Bump dialyxir from 1.3.0 to 1.4.1 by @dependabot in #240 * Bump mix_test_watch from 1.1.0 to 1.1.1 by @dependabot in #242 * Known issues to be addressed in the near future: * Lock `git_hooks` to 0.6.5 due to its issue in #138 * Release rcl nif resources when GerServer terminates in #160 * `publish/2` sometimes failed just after `create_publisher/3` in #212 * CI fails randomly at mix test in #246 * Bump to Iron Irwini in #228 * Note in this release: * Please welcome Humble Hawksbill as the new supported distribution for Rclex!! 🎉
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takasehideki
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Sep 11, 2023
**Full Changelog**: v0.8.5...v0.9.0 * New features: * Support Humble (and format with Elixir 1.15.5) by @pojiro in #241 * Support humble, galactic Nerves by @pojiro in #244 * change the recommended environment and versions by @takasehideki in #247 * Add humble support to arm32v7_ros_distros by @pojiro in #248 * Code Improvements/Fixes: * Fix bug of `mix rclex.gen.msgs` by @pojiro in #236 * fix docs about ROS_DISTRO from `foxy` to `humble` by @takasehideki in #249 * Bumps: * Bump ex_doc from 0.29.4 to 0.30.6 by @dependabot in #234 #237 #238 * Bump dialyxir from 1.3.0 to 1.4.1 by @dependabot in #240 * Bump mix_test_watch from 1.1.0 to 1.1.1 by @dependabot in #242 * Known issues to be addressed in the near future: * Lock `git_hooks` to 0.6.5 due to its issue in #138 * Release rcl nif resources when GerServer terminates in #160 * `publish/2` sometimes failed just after `create_publisher/3` in #212 * CI fails randomly at mix test in #246 * Bump to Iron Irwini in #228 * Note in this release: * Please welcome Humble Hawksbill (and Galactic Geochelone) as the new supported distribution for Rclex!! 🎉
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Nerves 対応を行った PR です。
https://hexdocs.pm/rclex/use_on_nerves.html をなぞり、 ターゲットの RPI4 でパブリッシュさせ、ホストの
ros2 topic echo /chatter std_msgs/msg/Stringで受信を確認しました。動作確認に使用した Nerves プロジェクトは https://github.com/pojiro/rclex_usage_on_nerves