| Note: This tutorial assumes that you have completed the previous tutorials: Adding ROS to the Image. |
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Yocto: Setup on the Galileo Board
Description: Set up on the Galileo BoardTutorial Level: INTERMEDIATE
Next Tutorial: Adding Packages from the host Adding packages from the host
Contents
ROS setup on the Galileo board
The commands in this section are executed on the Galileo board itself. (SSH to the card)
The current version of ROS for openembedded puts all the ROS files in /usr. This causes some severe performance issues when ROS has to search this entire directory tree. This launch time can be reduced by editing /usr/lib/python2.7/site-packages/rospkg/rospack.py and making the loop in the list_by_path function (near line 41) look like this:
...
for d, dirs, files in os.walk(path, topdown=True, followlinks=True):
print "ROSPACK Checking directory %s \r" % d,
[dirs.remove(di) for di in dirs if di[0] == '.']
[dirs.remove(di) for di in dirs if di == 'src' and d=="/usr"]
[dirs.remove(di) for di in dirs if di == 'etc' and d=="/usr"]
[dirs.remove(di) for di in dirs if di == 'include' and d=="/usr"]
[dirs.remove(di) for di in dirs if di == 'locale' and d=="/usr/lib"]
[dirs.remove(di) for di in dirs if di == 'perl' and d=="/usr/lib"]
[dirs.remove(di) for di in dirs if di == 'perl5' and d=="/usr/lib"]
[dirs.remove(di) for di in dirs if di == 'terminfo' and d=="/usr/share"]
[dirs.remove(di) for di in dirs if di == 'man' and d=="/usr/share"]
[dirs.remove(di) for di in dirs if di == 'oprofile' and d=="/usr/share"]
if PACKAGE_FILE in files:
...TODO: Make this into a patch that can be applied on the host before build. TODO: Also fix the c++ version of rospack.
Edit the file /usr/lib/python2.7/site-packages/roslaunch/launch.py, and change _TIMEOUT_MASTER_START to 20:
_TIMEOUT_MASTER_START = 20.0
Create the the setup file setup_clanton.sh:
export ROS_ROOT=/usr export ROS_MASTER_URI=http://clanton:11311 export CMAKE_PREFIX_PATH=/usr export ROS_OS_OVERRIDE=debian:wheezy source /usr/share/rosbash/rosbash
Execute it with:
bash touch /usr/.catkin source ~/setup_clanton.sh
Edit /etc/hosts to look like this:
127.0.0.1 clanton.localdomain clanton
Make rosout:
rosmake rosout mv /usr/lib/ros* /opt/ros/lib
Now you should be able to run roscore:
roscore
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