獲取有關Gumstix overo（BitBake的Yocto計劃）

我自己的ROS包我試圖讓自己的ROS包上Gumstix Overo工作。該項目的最終目標是從Caspa（相機）中獲取圖像並用ROS進行流式處理。爲此，我在Yocto項目中取得了最大的成功：Pocky，它使用BitBake交叉編譯工具鏈。爲此，我按照GitHub的README.md中的說明進行操作：https://github.com/gumstix/Gumstix-YoctoProject-Repo 獲取有關Gumstix overo（BitBake的Yocto計劃）

僅供參考，實際閃爍和安裝的說明在官方Gumstix網站上更加清楚。

我是成功的，在所有的ROS元和額外使用以下命令編譯BitBake的項目：

$ bitbake gumstix-console-image

（需要相當長一段時間，很多很多的磁盤空間），後來，閃爍，安裝。

這裏是我的包，我試圖編譯：https://github.com/elikos/groundStationPublic我試圖保持文件夾儘可能簡單，以限制潛在的路徑問題，所以一切都在基地目錄...（非常醜，我知道）

這裏是我的CMakelist.txt：

cmake_minimum_required(VERSION 2.8.3) 
project(groundStationPublic) 

## Find catkin and any catkin packages 
find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport roscpp rospy std_msgs genmsg) 

find_package(OpenCV REQUIRED) 

## Declare ROS messages and services 
#add_message_files(FILES Num.msg) 
#add_service_files(FILES AddTwoInts.srv) 

## Generate added messages and services 
#generate_messages(DEPENDENCIES std_msgs) 

## Declare a catkin package 
catkin_package() 

include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) 

add_executable(talker talker.cpp) 
target_link_libraries(talker ${catkin_LIBRARIES}) 
#add_dependencies(talker beginner_tutorials_generate_messages_cpp) 

add_executable(listener listener.cpp) 
target_link_libraries(listener ${catkin_LIBRARIES}) 
#add_dependencies(listener beginner_tutorials_generate_messages_cpp) 

add_executable(cornerDetection main.cpp ConerDetection.cpp LineDetection.cpp ImagePublisher.cpp) 
target_link_libraries(cornerDetection ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) 

add_executable(bonPublisher bonPublisher.cpp) 
target_link_libraries(bonPublisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

這裏是我的包BitBake的食譜：

DESCRIPTION = "Elikos groundstation code." 
SECTION = "devel" 
LICENSE = "BSD" 
LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5" 

DEPENDS = "roscpp rospy catkin std-msgs" 
RDEPENDS_${PN} = "roscpp rospy std-msgs" 

SRC_URI = "git://github.com/elikos/groundStationPublic.git" 

SRCREV = "${AUTOREV}" 
PV = "1.0.0+gitr${SRCPV}" 

S = "${WORKDIR}/git" 

inherit catkin 

ROS_SPN = "groundStationPublic"

我已經找到了它~/yocto/poky/meta-ros/recipes-ros/groundStationPublic

如果我執行命令bitbake groundStationPublic，一切編譯罰款。沒有錯誤。（你可能會從x264_git一個錯誤，但正確的sourcerev是：SRCREV = 「ffc3ad4945da69f3caa2b40e4eed715a9a8d9526」）

最後，我的問題是：

哪裏是我的包在圖像中位於？
- 這不是在/usr/share/像我希望它是...
我如何運行我的包，如果rosrun無法找到它？（可能是因爲它根本不存在）
- 我希望它不會停像rosrun groundStationPublic talker

來源

2014-07-01 generalspoonful

好了，終於找到了答案，以我自己的問題：

我不得不添加我的包中的圖像像這樣在~/yocto/poky/meta-gumstix-extras/recipies-images/gumstix/gumstix-consol-image.bb：

UTILITIES_INSTALL = " \ 
    [...] 
    packagegroup-ros-comm \ 
    python-wstool \ 
    python-email \ 
    python-distutils \ 
    git \ 
    git-perltools \ 
    python-rosinstall \ 
    rospy-tutorials \ 
    roscpp-tutorials \ 
    groundStationPublic \ 
    [...] 
"

和m AKE一定有UTILITIES_INSTALL加入：

IMAGE_INSTALL += " \ 
    [...] 
    ${UTILITIES_INSTALL} \ 
    [...] 
"

我也不得不改變CMakelist.txt明確地告訴它在哪裏安裝目標，所以這裏是新CMakelist。TXT（注意在最後幾行的差異）：

cmake_minimum_required(VERSION 2.8.3) 
project(groundStationPublic) 

## Find catkin and any catkin packages 
find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport roscpp rospy std_msgs genmsg) 

find_package(OpenCV REQUIRED) 

## Declare ROS messages and services 
#add_message_files(FILES Num.msg) 
#add_service_files(FILES AddTwoInts.srv) 

## Generate added messages and services 
#generate_messages(DEPENDENCIES std_msgs) 

## Declare a catkin package 
catkin_package() 

include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) 

add_executable(talker src/talker.cpp) 
target_link_libraries(talker ${catkin_LIBRARIES}) 
#add_dependencies(talker beginner_tutorials_generate_messages_cpp) 

add_executable(listener src/listener.cpp) 
target_link_libraries(listener ${catkin_LIBRARIES}) 
#add_dependencies(listener beginner_tutorials_generate_messages_cpp) 

add_executable(cornerDetection src/main.cpp src/ConerDetection.cpp src/LineDetection.cpp src/ImagePublisher.cpp) 
target_link_libraries(cornerDetection ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) 

add_executable(bonPublisher src/bonPublisher.cpp) 
target_link_libraries(bonPublisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) 

add_executable(exempleSubscriber src/exempleSubscriber.cpp) 
target_link_libraries(exempleSubscriber ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) 

install(TARGETS talker listener cornerDetection bonPublisher exempleSubscriber 
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 
)

不幸的是，我目前遇到的OpenCV這不是能夠從CASPA（從/ dev/video6）讀取圖像的問題。但這是一個其他問題的漏洞！

來源

2014-07-07 01:55:49 generalspoonful

獲取有關Gumstix overo（BitBake的Yocto計劃）

回答

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