获取有关Gumstix overo（BitBake的Yocto计划）

Question

我自己的ROS包我试图让自己的ROS包上Gumstix Overo工作。该项目的最终目标是从Caspa（相机）中获取图像并用ROS进行流式处理。为此，我在Yocto项目中取得了最大的成功：Pocky，它使用BitBake交叉编译工具链。为此，我按照GitHub的README.md中的说明进行操作：https://github.com/gumstix/Gumstix-YoctoProject-Repo

仅供参考，实际闪烁和安装的说明在官方Gumstix网站上更加清楚。

我是成功的，在所有的ROS元和额外使用以下命令编译BitBake的项目：

$ bitbake gumstix-console-image 

（需要相当长一段时间，很多很多的磁盘空间），后来，闪烁，安装。

这里是我的包，我试图编译：https://github.com/elikos/groundStationPublic我试图保持文件夹尽可能简单，以限制潜在的路径问题，所以一切都在基地目录...（非常丑，我知道）

这里是我的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}) 

这里是我的包BitBake的食谱：

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" 

我已经找到了它~/yocto/poky/meta-ros/recipes-ros/groundStationPublic

如果我执行命令bitbake groundStationPublic，一切编译罚款。没有错误。 （你可能会从x264_git一个错误，但正确的sourcerev是：SRCREV = “ffc3ad4945da69f3caa2b40e4eed715a9a8d9526”）

最后，我的问题是：

• 哪里是我的包在图像中位于？
  • 这不是在/usr/share/像我希望它是...
• 我如何运行我的包，如果rosrun无法找到它？ （可能是因为它根本不存在）
  • 我希望它不会停像rosrun groundStationPublic talker

Answer 1

好了，终于找到了答案，以我自己的问题：

我不得不添加我的包中的图像像这样在~/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} \ 
    [...] 
" 

我也不得不改变CMakelist.txt明确地告诉它在哪里安装目标，所以这里是新CMakelist。TXT（注意在最后几行的差异）：

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这不是能够从CASPA（从/ dev/video6）读取图像的问题。但这是一个其他问题的漏洞！