meta-refkit-extra: add ROS helloworld example package

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>

Author: Dmitry Rozhkov

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

@@ -9,4 +9,5 @@ python3-protobuf@refkit-extra
 python3-pycparser@meta-python
 python3-pyrealsense@refkit-extra
 python3-six@core
+refkit-ros-tests@refkit-extra
 snappy@refkit-extra

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

@@ -0,0 +1,51 @@
+Introduction
+============
+
+The core of the ROS project is a XMLRPC-based publisher-subscriber
+middleware. This instruction documents how to run a simple ROS
+application in IoT Refkit. The application is documented in
+the `Writing a Simple Publisher and Subscriber`_ tutorial.
+
+How to run
+==========
+
+1. Create an image containing the package `refkit-ros-tests`, e.g. by putting
+   this line in your `local.conf`::
+
+     IMAGE_INSTALL_append = " refkit-ros-tests"
+
+   and running::
+
+     $ bitbake refkit-image-common
+
+2. Start up a QEMU VM with the built image::
+
+     $ runqemu ovmf refkit-image-common wic slirp serial nographic
+
+3. Set up ROS environment in the VM::
+
+     export ROS_ROOT=/opt/ros
+     export ROS_DISTRO=indigo
+     export ROS_PACKAGE_PATH=/opt/ros/indigo/share
+     export PATH=$PATH:/opt/ros/indigo/bin
+     export LD_LIBRARY_PATH=/opt/ros/indigo/lib
+     export PYTHONPATH=/opt/ros/indigo/lib/python3.5/site-packages
+     export ROS_MASTER_URI=http://localhost:11311
+     export CMAKE_PREFIX_PATH=/opt/ros/indigo
+     touch /opt/ros/indigo/.catkin
+
+4. Launch all the needed ROS nodes with the command::
+
+     roslaunch refkit_ros_tests helloworld.launch
+
+If everything is correct then two nodes get launched:
+
+- a publisher node sending standard string messages "hello world" to a ROS
+  topic and
+- a subscriber node listening to the topic and exiting upon the
+  message.
+
+As soon as the subscriber node exits all the other nodes should
+exit successfully.
+
+.. _Writing a Simple Publisher and Subscriber: http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28python%29

meta-refkit-extra/recipes-robotics/refkit-ros-tests/refkit-ros-tests/refkit-ros-tests-0.1.0/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(refkit_ros_tests)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(PROGRAMS scripts/talker.py
+                 scripts/listener.py
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

meta-refkit-extra/recipes-robotics/refkit-ros-tests/refkit-ros-tests/refkit-ros-tests-0.1.0/launch/helloworld.launch

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <node name="refkit_ros_tests_talker" pkg="refkit_ros_tests" type="talker.py" output="screen" required="true" />
+  <node name="refkit_ros_tests_listener" pkg="refkit_ros_tests" type="listener.py" output="screen" required="true" />
+</launch>

meta-refkit-extra/recipes-robotics/refkit-ros-tests/refkit-ros-tests/refkit-ros-tests-0.1.0/package.xml

@@ -0,0 +1,18 @@
+<package>
+
+  <name>refkit_ros_tests</name>
+  <version>0.1.0</version>
+  <description>
+     Test ROS nodes for Refkit
+  </description>
+  <author email="dmitry.rozhkov@intel.com">Dmitry Rozhkov</author>
+  <maintainer email="dmitry.rozhkov@intel.com">Dmitry Rozhkov</maintainer>
+
+  <license>MIT</license>
+
+  <url type="website">http://todo/</url>
+  <url type="bugtracker">https://todo/issues</url>
+  <url type="repository">https://todo/</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+</package>

meta-refkit-extra/recipes-robotics/refkit-ros-tests/refkit-ros-tests/refkit-ros-tests-0.1.0/scripts/listener.py

@@ -0,0 +1,19 @@
+#!/usr/bin/env python
+
+import rospy
+from std_msgs.msg import String
+
+def callback(data):
+    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
+    rospy.signal_shutdown("Success")
+
+def listener():
+
+    rospy.init_node('listener', anonymous=True)
+
+    rospy.Subscriber("chatter", String, callback)
+
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()

meta-refkit-extra/recipes-robotics/refkit-ros-tests/refkit-ros-tests/refkit-ros-tests-0.1.0/scripts/talker.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+
+import rospy
+from std_msgs.msg import String
+
+def talker():
+    pub = rospy.Publisher('chatter', String, queue_size=10)
+    rospy.init_node('talker', anonymous=True)
+    rate = rospy.Rate(1) # 1hz
+    while not rospy.is_shutdown():
+        hello_str = "hello world"
+        rospy.loginfo(hello_str)
+        pub.publish(hello_str)
+        rate.sleep()
+
+if __name__ == '__main__':
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass

meta-refkit-extra/recipes-robotics/refkit-ros-tests/refkit-ros-tests_0.1.0.bb

@@ -0,0 +1,13 @@
+DESCRIPTION = "Test ROS nodes for Refkit"
+SECTION = "devel"
+LICENSE = "MIT"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=58e54c03ca7f821dd3967e2a2cd1596e"
+
+SRC_URI = "file://${PN}-${PV}/scripts/talker.py \
+           file://${PN}-${PV}/scripts/listener.py \
+           file://${PN}-${PV}/launch/helloworld.launch \
+           file://${PN}-${PV}/CMakeLists.txt \
+           file://${PN}-${PV}/package.xml \
+          "
+
+inherit catkin