I have been working on getting ROS2 Humble working with Yocto’s Kirkstone release. A preview of the work is available here for feedback: robwoolley/meta-ros at superflore/humble/2022-09-30 (github.com)
Here are some simple instructions for building the core ROS2 packages for qemux86-64. I am close to having ros-image-world building as well.
# Create a new project directory mkdir ros2-humble-kirkstone cd ros2-humble-kirkstone # Clone from meta-ros fork git clone -b build --single-branch https://github.com/robwoolley/meta-ros.git build # Create ros2-humble-kirkstone environment from MCF file mkdir conf ln -snf ../conf build/. cp build/files/ros2-humble-kirkstone.mcf conf/. build/scripts/mcf -f conf/ros2-humble-kirkstone.mcf # Source the build environment source openembedded-core/oe-init-build-env # Build ros-image-core bitbake ros-image-core
We would like to incorporate updates for all actively supported ROS2 distros and Yocto Project releases. Our plan is to have a follow up Zoom call for everyone interested in contributing or using the layer. Please DM me, email me, or post to this thread if you are interested in attending.
The call would likely be in a week or 2 after everyone has returned home safely from ROSCon.
Feedback warmly welcomed,