On 09/22/2015 03:26 AM, Alexis Ballier wrote:
On Thu, 17 Sep 2015 18:36:06 +0200
Alexis Ballier <aball...@gentoo.org> wrote:
Hi all,
As part of an effort of bringing ros (http://www.ros.org/) to Gentoo,
I've come up with the following design:
ros-catkin.eclass that is a template, merging all common code for
catkinized ros packages.
ROS_MESSAGES will be a new USE_EXPANDed variable: ROS is message
based, processes write and listen to some topic, and a topic is typed
with a message. Messages are defined by simple text files but are then
pre-processed for easy usage in C++, Python & co.
Several packages are usually bundled in a single repository, with a
meta-package pulling all the others. Hence, I came with two new
categories: dev-ros for single packages, ros-meta for those
meta-packages.
Some numbers:
/bin/ls ros-meta | wc -l
52
/bin/ls dev-ros | wc -l
350
I think maybe half of them are in a state that they can be added to
gentoo-x86.
ebuild example:
$ cat roslib-1.12.2.ebuild
# Copyright 1999-2014 Gentoo Foundation
# Distributed under the terms of the GNU General Public License v2
# $Header: $
EAPI=5
ROS_REPO_URI="https://github.com/ros/ros";
KEYWORDS="~amd64 ~arm"
PYTHON_COMPAT=( python{2_7,3_3,3_4} )
ROS_SUBDIR=core/${PN}
inherit ros-catkin
DESCRIPTION="Base dependencies and support libraries for ROS"
LICENSE="BSD"
SLOT="0"
IUSE=""
RDEPEND="
dev-python/rospkg[${PYTHON_USEDEP}]
dev-libs/boost:=[threads]
dev-ros/rospack
"
DEPEND="${RDEPEND}
test? ( dev-ros/rosmake ros-meta/ros )"
Eclass inlined at the end.
Best regards,
Alexis.
Since there hasn't been comments in a few days, I'm proceeding with the
above plan. (with hasufel's eclass review taken into account of course)
Alexis.
Hi Alexis.
As a gentoo user, an ebuild hacker and engineer, I'd suggest you
include a wiki page for gentoo users, to document the gentoo specific
issues. I'm a big fan of the new gentoo wiki. Access to either a
'virtual robot', or where to purchase devices that use ROS, would at
least greatly facilitate folks to participate with ROS robotics codes.
Include links to the main ROS repos, and relevant other urls.
For example; one of the common things missing in such projects is
an example linux kernel, stripped to optimize only the size and
performance of the ROS devices and software. Showing this kernel .config
would be keen. At list discussion why some of the key kernel configs
are select is sorely missing in the world of robotic and UAVs, imho.
You may also what to include 'hooks' to relevant and commonly used
embedded boards with ROS hardware. I am working on clustering for gentoo
using mesos + zookeeper + apache-spark (we have 2/3 in overlays now).
Lots of robotic work now attempts to use the power of the cluster over
an Rf link and/or use many robots computational resources, as a mere
node in a cluster.
I for one have been looking for such a project, if It combines
robotics issues with (UAV) issues. After all, all UAVs are robots, with
additional constraints.
hth,
James
