[ros-users] Is it possible to "binary package" built stacks ?

[Daniel Stonier]

On 16 December 2010 18:19, Willy Lambert <lambert.willy at gmail.com> wrote:

> I am very interested in your examples.
>
> Are all the eros features documented somewhere ?
>
> 2010/12/16 Daniel Stonier <d.stonier at gmail.com>
>
>
There is the eros wiki (http://www.ros.org/wiki/eros), however it needs a
bit of a work and some tutorials added - I ticketed myself a couple of weeks
ago to do that, looks like now is a good time :) Just looking at it again,
it doesn't seem to give any indication that its for anything but
cross-compiling, so I'll re-organise it a bit as well.

Wife just had a baby this week and a deadline today, so a bit busy - but
I'll do some work on it on the weekend and let you know as soon as I've
added some notes and examples pertaining to the discussion above.

Cheers,
Daniel Stonier.


>>
>> On 15 December 2010 08:54, Willy Lambert <lambert.willy at gmail.com> wrote:
>>
>>> Thanks for this link.
>>>
>>> I don't need to cross compile, all are x86 Linux Systemes. It's like :
>>> "okay, I finished my developpement, know I would like to publish precompiled
>>> binaires". Somehow it's like a make install which separates binairies from
>>> build tree.
>>> I am sure something allows to do it in ROS, it seems to be a so common
>>> problem. Currently, I build everything my cmake and make install binaries
>>> (and conf files) in a separate folder, then I just have to copy this folder
>>> on my target. Is there anything like this in ROS ?
>>>
>>> Let's take it differently. If I have dependencies, do I need to build all
>>> of them, or may I catch pre-compile stacks like you will do with rosdep ?
>>>
>>>
>> Eros is not entirely about cross-compiling, its focus is for anything
>> embedded so there's lots of purely embedded tools in it too. We use it at
>> our company for cross-compiling to some of our smaller robots, but we also
>> do exactly what you're describing on our larger robots. Aka we build on
>> ubuntu x86, then move the results across to an embedded intel atom.
>>
>> I typically do it one of two ways.
>>
>> 1) build locally and use 'unison' to synchronise it with a tree on the
>> robot. That's actually very easy and you can get it to ignore hpp/cpp files
>> and whatever else you don't want to copy over.
>>
>> 2) second way is a bit more elaborate.
>>
>> - robot has a core ros tree/stacks
>> - our package makefile includes an eros makefile which automatically sets
>> up install/uninstall targets along with all ros targets
>> - we then specify install/uninstall stuff in the cmakelists.txt.
>> - run the usual make/make install or rosmake --target="install" for a
>> whole set of packages.
>> - this dumps to wherever your CMAKE_INSTALL_PREFIX is pointing (can be set
>> with eros' rosprefix).
>>
>> This works good for really exactly specifying what you want in a binary
>> dump of your trees. But it's usually too much bother. For ros robots, the
>> unison approach is quick and simple.
>>
>> We do use the above approach though when we're installing to non-ros
>> robots (compile or non-cross compile). This lets us manage literally dozens
>> of libraries/binaries for a robot at once via rosmake and install to a
>> fakeroot location which we can then directly copy to the robot. Without ros,
>> managing dozens of libraries for an embedded robot was a real pita.
>>
>> If you want some examples or more detail, please let me know.
>>
>> Regards,
>> Daniel.
>>
>>
>>> 2010/12/15 Sebastian Haug <sebhaug at gmail.com>
>>>
>>> Hi Willy,
>>>>
>>>> On Tue, Dec 14, 2010 at 2:50 PM, Willy Lambert <lambert.willy at gmail.com>
>>>> wrote:
>>>> > But after having built everything on my development computer, I'll
>>>> want to
>>>> > download it to my embedded main board. I don't want to install ROS on
>>>> it in
>>>> > order to pick everything and build it. Is it possible to generate a
>>>> "binary
>>>> > package" that is easily installable on a different PC (like a debian
>>>> package
>>>> > or a compressed archive of binaries) ? I didn't see anything about
>>>> this in
>>>> > the docs.
>>>> Maybe eros (http://www.ros.org/wiki/eros) is something that suits your
>>>> needs. Its a toolchain for cross-compilation of ROS for embedded
>>>> systems.
>>>>
>>>> Sebastian
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>>>>
>>>
>>>
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>>
>>
>> --
>> Phone : +82-10-5400-3296 (010-5400-3296)
>> Home: http://snorriheim.dnsdojo.com/
>> Yujin Robot: http://www.yujinrobot.com/
>> Embedded Ros : http://www.ros.org/wiki/eros
>> Embedded Control Libraries:
>> http://snorriheim.dnsdojo.com/redmine/wiki/ecl
>>
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-- 
Phone : +82-10-5400-3296 (010-5400-3296)
Home: http://snorriheim.dnsdojo.com/
Yujin Robot: http://www.yujinrobot.com/
Embedded Ros : http://www.ros.org/wiki/eros
Embedded Control Libraries: http://snorriheim.dnsdojo.com/redmine/wiki/ecl
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