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Merge pull request #49 from rojkov/ros-public
Add industrial profile
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‎.gitmodules‎

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[submodule "meta-yocto"]
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path = meta-yocto
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url = https://git.yoctoproject.org/git/meta-yocto
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[submodule "meta-ros"]
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path = meta-ros
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url = https://github.com/bmwcarit/meta-ros.git

‎doc/industrial-profile.rst‎

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Industrial Robotics profile
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###########################
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Introduction
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============
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The purpose of the industrial profile is to provide a solid base for
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developing robotics applications that can be used for labour automation in
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manufacturing, logistics and other domains.
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Target audience
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===============
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The profile is for anybody who is interested in developing such applications
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on top of Intel hardware. The main use cases are:
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#. Welding/Soldering;
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#. Material handling;
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#. Dispensing/Coating;
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#. Pick and place.
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However combined with the computer vision profile they can be extended to
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other applications like drones, self-driving cars, agricultural robots etc.
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Value proposition
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=================
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Industrial Robotics profile is made to simplify creation of products using
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robotics technologies and is tailored for embedded hardware. Being a part of
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Yocto layer it provides full control over build configuration. Unlike
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other robotics projects the profile is independent from external binary
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package streams.
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Key components
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==============
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So far the `ROS Industrial`_ (ROS-I) project has been identified as a starting
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point for the base and this profile includes core packages from the project
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and their direct dependencies.
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ROS-I is a layer between `ROS`_ (a set of software libraries and tools used
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in robot applications) and industrial hardware equipment converting
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messages in ROS formats to something understandable by actual hardware.
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Although no vendor specific packages are included at the moment.
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Currently the profile includes:
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- core ROS components,
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- libraries for handling geometry and kinematics models of robots in
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the URDF format,
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- components from the `MoveIt!`_ framework responsible for a robot's
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joints movement planning,
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- core ROS-I components used for interfacing with real robot hardware.
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Due to the embedded nature of IoT Refkit no GUI components have been included
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in the profile. Users are expected to run ROS GUI nodes (e.g. Rviz) on
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their workstations if there's such a need.
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For detailed usage instructions please refer `ROS Industrial tutorials`_
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The ``meta-refkit-extra`` layer contains example ROS applications and
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detailed instructions on how to run them.
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.. _ROS Industrial: http://rosindustrial.org
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.. _ROS: http://ros.org
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.. _MoveIt!: http://moveit.ros.org
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.. _ROS Industrial tutorials: http://wiki.ros.org/Industrial/Tutorials

‎doc/profiles.rst‎

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#. refkit-image-common: A configuration with interactive tools but without any special software in it. Recommended target if you are not interested in any given profile.
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#. refkit-image-computervision: A profile with tools and configuration for computer vision use cases.
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#. refkit-image-gateway: A profile with tools and configuration for acting as an IoT sensor.
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#. refkit-image-industrial: A profile with tools for industrial use cases, i.e. ROS Industrial packages intended to be used in industrial robotics applications.

‎meta-refkit-core/conf/distro/include/refkit-config.inc‎

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# Reconfigure several upstream recipes for the computer vision profile.
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REFKIT_DEFAULT_DISTRO_FEATURES += "refkit-computervision"
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# Reconfigure several upstream recipes for the industrial profile.
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REFKIT_DEFAULT_DISTRO_FEATURES += "refkit-industrial"
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# Misc recipe changes for the Refkit distro. May also be useful
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# for distros not called "refkit" and thus has its own DISTRO_FEATURE and
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# "refkit-config" override.

‎meta-refkit-core/conf/distro/include/refkit-overrides.inc‎

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refkit-firewall \
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refkit-computervision \
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refkit-gateway \
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refkit-industrial \
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"
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INHERIT += "distrooverrides"

‎meta-refkit-core/conf/distro/include/refkit_security_flags.inc‎

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SECURITY_CFLAGS_pn-protobuf = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
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SECURITY_CFLAGS_pn-glog = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
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SECURITY_CFLAGS_pn-clang = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
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SECURITY_CFLAGS_pn-log4cxx = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
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SECURITY_CFLAGS_pn-python3-lxml = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
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SECURITY_CFLAGS_pn-python3-netifaces = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
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SECURITY_CFLAGS_pn-python3-pyyaml = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
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SECURITY_CFLAGS_pn-moveit-ros-perception = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
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# openjdk-8 ends up linking with "-shared -pie -fpie" in some cases (see
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# hotspot/make/linux/makefiles/saproc.make) which then tries (and fails) to
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SECURITY_STRINGFORMAT_pn-gsignond = ""
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SECURITY_STRINGFORMAT_pn-openjdk-8 = ""
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SECURITY_STRINGFORMAT_pn-openjre-8 = ""
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SECURITY_STRINGFORMAT_pn-qhull = ""

‎meta-refkit-extra/conf/distro/include/refkit-extra-supported-recipes.txt‎

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caffe@refkit-extra
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household-objects-database-msgs@ros-layer
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hdf5@refkit-extra
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leveldb@openembedded-layer
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lmdb@refkit-extra
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manipulation-msgs@ros-layer
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moveit-kinematics@ros-layer
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moveit-planners-ompl@ros-layer
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moveit-ros-manipulation@ros-layer
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moveit-ros-move-group@ros-layer
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moveit-simple-controller-manager@ros-layer
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ompl@ros-layer
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openblas@refkit-extra
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python3-imageio@refkit-extra
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python3-pillow@refkit-extra
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python3-protobuf@refkit-extra
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python3-pycparser@meta-python
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python3-pyrealsense@refkit-extra
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python3-six@core
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refkit-ros-tests@refkit-extra
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robot-state-publisher@ros-layer
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snappy@refkit-extra
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std-srvs@ros-layer
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tf2-kdl@ros-layer
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uarmmetal-moveit-config@refkit-extra
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uarmmetal-support@refkit-extra

‎meta-refkit-extra/conf/distro/include/refkit_extra_security_flags.inc‎

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SECURITY_CFLAGS_pn-snappy = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
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SECURITY_CFLAGS_pn-leveldb = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
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SECURITY_CFLAGS_pn-python3-pyrealsense = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"
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SECURITY_CFLAGS_pn-moveit-planners-ompl = "${SECURITY_NO_PIE_CFLAGS} ${SECURITY_PIC_CFLAGS}"

‎meta-refkit-extra/doc/robotics-helloworld.rst‎

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Introduction
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============
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The core of the ROS project is a XMLRPC-based publisher-subscriber
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middleware. This instruction documents how to run a simple ROS
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application in IoT Refkit. The application is documented in
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the `Writing a Simple Publisher and Subscriber`_ tutorial.
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How to run
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==========
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1. Create an image containing the package `refkit-ros-tests`, e.g. by putting
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this line in your `local.conf`::
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IMAGE_INSTALL_append = " refkit-ros-tests"
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and running::
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$ bitbake refkit-image-common
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2. Start up a QEMU VM with the built image::
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$ runqemu ovmf refkit-image-common wic slirp serial nographic
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3. Set up ROS environment in the VM::
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export ROS_ROOT=/opt/ros
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export ROS_DISTRO=indigo
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export ROS_PACKAGE_PATH=/opt/ros/indigo/share
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export PATH=$PATH:/opt/ros/indigo/bin
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export LD_LIBRARY_PATH=/opt/ros/indigo/lib
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export PYTHONPATH=/opt/ros/indigo/lib/python3.5/site-packages
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export ROS_MASTER_URI=http://localhost:11311
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export CMAKE_PREFIX_PATH=/opt/ros/indigo
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touch /opt/ros/indigo/.catkin
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4. Launch all the needed ROS nodes with the command::
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roslaunch refkit_ros_tests helloworld.launch
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If everything is correct then two nodes get launched:
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- a publisher node sending standard string messages "hello world" to a ROS
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topic and
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- a subscriber node listening to the topic and exiting upon the
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message.
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As soon as the subscriber node exits all the other nodes should
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exit successfully.
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.. _Writing a Simple Publisher and Subscriber: http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28python%29

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