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

[Willy Lambert]

Thanks for this, it's clear for me.

maybe you could also add this link about the ROS road map :
https://code.ros.org/trac/ros/ticket/946

2010/12/20 Daniel Stonier <d.stonier at gmail.com>

>
>
> On 17 December 2010 16:55, Willy Lambert <lambert.willy at gmail.com> wrote:
>
>> Thanks a lot,I can't wait to hearing from this update
>>
>
> Just hashed some quick notes on two methods we use here at Yujin for
> updates to our embedded boards. We typically have two use cases - one to
> install stripped down ros trees and the other is to provide regular
> installables for c++ package chains.
>
> http://www.ros.org/wiki/eros/Deployment
>
> If there's any errors or vague explanations or some other feature you might
> want to add, please let me know.
>
> Regards,
> Daniel Stonier.
>
>
>>
>> 2010/12/17 Daniel Stonier <d.stonier at gmail.com>
>>
>>
>>>
>>> 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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