From 098325d668eb2096dcd810bd24b25c81e24500db Mon Sep 17 00:00:00 2001
From: Shankho Boron Ghosh <shankhoghosh123@gmail.com>
Date: Fri, 13 Aug 2021 18:41:32 +0530
Subject: meta-agl-ros2: Support for ros2 minimal & ydlidar

v1 : Added support for ros2 in AGL and ydlidar driver support by creation of recipes for ydlidar driver and sdk and packagegroup-agl-ros2-minimal & packagegroup-agl-ros2-ydlidar. Concurrently, created a feature template to allow for BBLAYERS and local conf dependencies.

v2 : Removed ALLOW_EMPTY_${PN} = "1" and trailing whitespaces. Set AGL_META_PYTHON = "${METADIR}/external/meta-openembedded/meta-python" otherwise multiple layers might include meta-python and bitbake will choke if a folder is present twice.

v3 : Removed trailing whitespaces. Removed AGL_META_PYTHON, just set it.

v4 : Rebased

v5 : Converted to new syntax: RDEPENDS:${PN}, do_install:append(), IMAGE_INSTALL:append

v6 : Added ${METADIR}/meta-agl-devel/meta-agl-ros2 to bblayers
configuration.

v7 : Added meta-ros-backports-hardknott layer.

v8 : Added packagegroup-agl-ros-native-qt5 to remove dependency to
agl-demo.

Signed-off-by: Shankho Boron Ghosh <shankhoghosh123@gmail.com>
Change-Id: If169fde42e3f51571e2776adc574b7f8437a61fa
---
 .../ydlidar-ros2-driver_1.0.1.bb                   | 62 ++++++++++++++++++++++
 .../ydlidar-ros2-sdk/ydlidar-ros2-sdk_1.4.7.bb     | 24 +++++++++
 2 files changed, 86 insertions(+)
 create mode 100644 meta-agl-ros2/recipes-ros2/ydlidar-ros2-driver/ydlidar-ros2-driver_1.0.1.bb
 create mode 100644 meta-agl-ros2/recipes-ros2/ydlidar-ros2-sdk/ydlidar-ros2-sdk_1.4.7.bb

(limited to 'meta-agl-ros2/recipes-ros2')

diff --git a/meta-agl-ros2/recipes-ros2/ydlidar-ros2-driver/ydlidar-ros2-driver_1.0.1.bb b/meta-agl-ros2/recipes-ros2/ydlidar-ros2-driver/ydlidar-ros2-driver_1.0.1.bb
new file mode 100644
index 00000000..cff912d0
--- /dev/null
+++ b/meta-agl-ros2/recipes-ros2/ydlidar-ros2-driver/ydlidar-ros2-driver_1.0.1.bb
@@ -0,0 +1,62 @@
+inherit ros_distro_foxy
+inherit ros_superflore_generated
+
+SUMMARY = "YDLIDAR"
+DESCRIPTION = "YDLIDAR driver recipe for ROS2 support."
+AUTHOR = "Shankho Boron Ghosh"
+ROS_AUTHOR = "Shankho Boron Ghosh"
+HOMEPAGE = "https://wiki.ros.org"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=d41d8cd98f00b204e9800998ecf8427e"
+
+ROS_CN = "ydlidar_ros2_driver"
+ROS_BPN = "ydlidar_ros2_driver"
+
+ROS_BUILD_DEPENDS = " \
+    rclcpp \
+    rclcpp-components \
+    sensor-msgs \
+    visualization-msgs \
+    geometry-msgs \
+    std-srvs \
+"
+
+ROS_BUILDTOOL_DEPENDS = " \
+    ament-cmake-auto-native \
+    ament-cmake-ros-native \
+"
+
+ROS_EXPORT_DEPENDS = ""
+
+ROS_BUILDTOOL_EXPORT_DEPENDS = ""
+
+ROS_EXEC_DEPENDS = " \
+    rclcpp \
+    rclcpp-components \
+    sensor-msgs \
+    visualization-msgs \
+    geometry-msgs \
+    std-srvs \
+"
+
+# Currently informational only -- see http://www.ros.org/reps/rep-0149.html#dependency-tags.
+ROS_TEST_DEPENDS = ""
+
+DEPENDS = "${ROS_BUILD_DEPENDS} ${ROS_BUILDTOOL_DEPENDS}"
+# Bitbake doesn't support the "export" concept, so build them as if we needed them to build this package (even though we actually
+# don't) so that they're guaranteed to have been staged should this package appear in another's DEPENDS.
+DEPENDS += "${ROS_EXPORT_DEPENDS} ${ROS_BUILDTOOL_EXPORT_DEPENDS}"
+#added
+DEPENDS += "ydlidar-ros2-sdk"
+
+RDEPENDS:${PN} += "${ROS_EXEC_DEPENDS}"
+
+#ROS_BRANCH ?= "branch=release/foxy/ydlidar_ros2_driver"
+SRC_URI = "git://github.com/YDLIDAR/ydlidar_ros2_driver;branch=master;protocol=https"
+SRCREV = "2e095da315aec0a0bc5aaac12082cb9d1f97f8b5"
+S = "${WORKDIR}/git"
+
+ROS_BUILD_TYPE = "ament_cmake"
+
+inherit ros_${ROS_BUILD_TYPE}
\ No newline at end of file
diff --git a/meta-agl-ros2/recipes-ros2/ydlidar-ros2-sdk/ydlidar-ros2-sdk_1.4.7.bb b/meta-agl-ros2/recipes-ros2/ydlidar-ros2-sdk/ydlidar-ros2-sdk_1.4.7.bb
new file mode 100644
index 00000000..4f586f30
--- /dev/null
+++ b/meta-agl-ros2/recipes-ros2/ydlidar-ros2-sdk/ydlidar-ros2-sdk_1.4.7.bb
@@ -0,0 +1,24 @@
+SUMMARY = "YDLIDAR-SDK"
+DESCRIPTION = "YDLIDAR-SDK as it a dependency for ydlidar_ros2_driver."
+AUTHOR = "Shankho Boron Ghosh"
+ROS_AUTHOR = "Shankho Boron Ghosh"
+HOMEPAGE = "https://github.com/YDLIDAR/YDLIDAR/YDLidar-SDK"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=4e320231d59c825e45dbfda066af29c9"
+
+SRC_URI = "git://github.com/YDLIDAR/YDLidar-SDK.git;protocol=https"
+
+SRCREV = "8b287ed831db0892f51793650b438790442fa09c"
+
+S = "${WORKDIR}/git"
+
+inherit cmake
+
+FILES_${PN} += "${datadir} ${prefix}/startup"
+
+do_install:append() {
+    sed -i -e 's|${DEBUG_PREFIX_MAP}||g; s|--sysroot=${STAGING_DIR_TARGET}||g' ${D}${libdir}/pkgconfig/*.pc
+}
+
+RDEPENDS:${PN} += "bash"
\ No newline at end of file
-- 
cgit 1.2.3-korg