KR260とPetaLinuxでROS2を作ろうとしたメモ

PetaLinuxの練習兼ねてPetalLinuxでKR260用のROS2を作ろうとしました。

公式のUbuntu上ではなく、オリジナルのROSです。

ただ最後のビルドが上手くいかなかったので途中までのメモです。

KR260とPetaLinuxでROS2を作ろうとしたメモ
PetaLinuxをインストールする
1. ./petalinux-***-installer.run の前にsudoをつけない
BSPファイルをダウンロードする
petalinux-buildでエラーになる
まとめ

KR260とPetaLinuxでROS2を作ろうとしたメモ

Kria KR260の評価ボード(ROBOTIC START KIT)を購入しました。

※下記記事で紹介しています。(リンク先はこちら)

KR260を購入してUbuntuを動かすまでのメモ

KR260を購入してUbuntuを動かすまでのメモ

XilinxのKria KR260のロボティクススターターキットを買ってみました。 Digi-Keyから個人で購入しています。 Ubuntuを動かすまでの流れを紹介します。

この記事作成中は、まだXilinx公式からROSのアプリケーションが出ていませんでした。

そのためPetaLinuxの勉強を兼ねて、下記海外の記事を真似てROSを作ろうとしました。

ROS 2 Humble in AMD KR260 with Yocto

Yocto and ROS 2 Humble allow you to build custom Linux-based production-grade operating systems for robots. This article...

ただ、最後にビルドで失敗していますので途中までの記事です。ご了承ください。

PetaLinuxをインストールする

LinuxのPCにPetaLinuxをインストールしておきます。

記載しているのはあくまで一例です。公式ドキュメントもご参照下さい。

https://docs.xilinx.com/r/en-US/ug1144-petalinux-tools-reference-guide/Introduction

Xilinxの公式ページからインストーラーをダウンロードして、実行します。

https://japan.xilinx.com/support/download/index.html/content/xilinx/ja/downloadNav/embedded-design-tools.html

PetaLinuxのインストールに関しては下記記事が大変参考になりました。

https://zenn.dev/nao23/articles/be7cd663eb09cd

インストーラーファイルをダウンロードして、実行します。

必要なライブラリも予めインストールしておく必要があります。

sudo apt-get install -y python gawk gcc git make net-tools libncurses5-dev tftpd zlib1g:i386 libssl-dev flex bison libselinux1 gnupg wget diffstat chrpath socat xterm autoconf libtool tar unzip texinfo zlib1g-dev gcc-multilib build-essential screen pax gzip
chmod 777 ./petalinux-v2022.1-04191534-installer.run 
sudo chown -R USER_NAME:USER_GROUP /opt/petalinux/2022.1/

sudo apt-get install -y python gawk gcc git make net-tools libncurses5-dev tftpd zlib1g:i386 libssl-dev flex bison libselinux1 gnupg wget diffstat chrpath socat xterm autoconf libtool tar unzip texinfo zlib1g-dev gcc-multilib build-essential screen pax gzip

chmod 777 ./petalinux-v2022.1-04191534-installer.run

sudo chown -R USER_NAME:USER_GROUP /opt/petalinux/2022.1/

./petalinux-v2022.1-04191534-installer.run -d /opt/petalinux/2022.1/

またPetaLinuxを起動させる前には下記コマンドを実行します。

「~」箇所は各自で保存した場所です。

source ~/petalinux/2022.1/settings.sh

iotengineer@iotengineer-Inspiron-3650:~$ source /opt/petalinux/2022.1/settings.sh
PetaLinux environment set to '/opt/petalinux/2022.1'
WARNING: /bin/sh is not bash! 
bash is PetaLinux recommended shell. Please set your default shell to bash.
WARNING: This is not a supported OS
INFO: Checking free disk space
INFO: Checking installed tools
INFO: Checking installed development libraries
INFO: Checking network and other services
WARNING: No tftp server found - please refer to "UG1144 2022.1 PetaLinux Tools Documentation Reference Guide" for its impact and solution

iotengineer@iotengineer-Inspiron-3650:~$ source /opt/petalinux/2022.1/settings.sh

PetaLinux environment set to '/opt/petalinux/2022.1'

WARNING: /bin/sh is not bash!

bash is PetaLinux recommended shell. Please set your default shell to bash.

WARNING: This is not a supported OS

INFO: Checking free disk space

INFO: Checking installed tools

INFO: Checking installed development libraries

INFO: Checking network and other services

WARNING: No tftp server found - please refer to "UG1144 2022.1 PetaLinux Tools Documentation Reference Guide" for its impact and solution

./petalinux-***-installer.run の前にsudoをつけない

インストール時にsudoを付けたくなりますが、エラーになりますのでご注意下さい。

sudo ./petalinux-v2022.1-04191534-installer.run -d /opt/petalinux/2022.1/

下記のようなエラーが発生します。

ERROR: Exiting Installer: Cannot install as root user !

BSPファイルをダウンロードする

ここからは冒頭でも紹介した、下記記事を真似ているだけです。

https://news.accelerationrobotics.com/ros-2-humble-in-amd-kr260/

XilinxのwikiからKriaのBSPファイルをダウンロードしときます。

Kria SOMs & Starter Kits - Xilinx Wiki - Confluence

Production K26 SOM　→BSP Download Link　→2022.1

BSPファイルを下記のようにpetalinux-createします。

iotengineer@iotengineer-Inspiron-3650:~$ petalinux-create -t project -s xilinx-k26-som-v2022.1-04191534.bsp
INFO: Create project: 
INFO: Projects: 
INFO: 	* xilinx-k26-som-2022.1
INFO: Has been successfully installed to /home/iotengineer/
INFO: New project successfully created in /home/iotengineer/

iotengineer@iotengineer-Inspiron-3650:~$ petalinux-create -t project -s xilinx-k26-som-v2022.1-04191534.bsp

INFO: Create project:

INFO: Projects:

INFO: * xilinx-k26-som-2022.1

INFO: Has been successfully installed to /home/iotengineer/

INFO: New project successfully created in /home/iotengineer/

そして、petalinux-configします。

iotengineer@iotengineer-Inspiron-3650:~$ cd xilinx-k26-som-2022.1/
iotengineer@iotengineer-Inspiron-3650:~/xilinx-k26-som-2022.1$ petalinux-config --silentconfig
[INFO] Sourcing buildtools
[INFO] Generating Kconfig for project
[INFO] Silentconfig project
[INFO] Extracting yocto SDK to components/yocto. This may take time!
[INFO] Sourcing build environment
[INFO] Generating kconfig for Rootfs
[INFO] Silentconfig rootfs
[INFO] Generating plnxtool conf
[INFO] Adding user layers
[INFO] Generating workspace directory
[INFO] Successfully configured project

iotengineer@iotengineer-Inspiron-3650:~$ cd xilinx-k26-som-2022.1/

iotengineer@iotengineer-Inspiron-3650:~/xilinx-k26-som-2022.1$ petalinux-config --silentconfig

[INFO] Sourcing buildtools

[INFO] Generating Kconfig for project

[INFO] Silentconfig project

[INFO] Extracting yocto SDK to components/yocto. This may take time!

[INFO] Sourcing build environment

[INFO] Generating kconfig for Rootfs

[INFO] Silentconfig rootfs

[INFO] Generating plnxtool conf

[INFO] Adding user layers

[INFO] Generating workspace directory

[INFO] Successfully configured project

ROS2関連のファイルをダウンロード・設定。

また記事に従って、bblayers.conf、petalinux-image-minimal.bbappendも編集・作成する。

iotengineer@iotengineer-Inspiron-3650:~/xilinx-k26-som-2022.1$ git clone https://github.com/vmayoral/meta-ros -b honister-humble project-spec/meta-ros
Cloning into 'project-spec/meta-ros'...
remote: Enumerating objects: 89825, done.
remote: Counting objects: 100% (412/412), done.
remote: Compressing objects: 100% (131/131), done.
remote: Total 89825 (delta 277), reused 410 (delta 276), pack-reused 89413
Receiving objects: 100% (89825/89825), 29.83 MiB | 3.31 MiB/s, done.
Resolving deltas: 100% (60160/60160), done.

iotengineer@iotengineer-Inspiron-3650:~/xilinx-k26-som-2022.1$ git clone https://github.com/vmayoral/meta-ros -b honister-humble project-spec/meta-ros

Cloning into 'project-spec/meta-ros'...

remote: Enumerating objects: 89825, done.

remote: Counting objects: 100% (412/412), done.

remote: Compressing objects: 100% (131/131), done.

remote: Total 89825 (delta 277), reused 410 (delta 276), pack-reused 89413

Receiving objects: 100% (89825/89825), 29.83 MiB | 3.31 MiB/s, done.

Resolving deltas: 100% (60160/60160), done.

petalinux-buildでエラーになる

一応petalinux-buildは動作したが、途中で失敗しました。

冒頭箇所とエラーの一部分を切り取りしています。

iotengineer@iotengineer-Inspiron-3650:~/xilinx-k26-som-2022.1$ petalinux-build
[INFO] Sourcing buildtools
[INFO] Building project
[INFO] Sourcing build environment
[INFO] Generating workspace directory
INFO: bitbake petalinux-image-minimal
NOTE: Started PRServer with DBfile: /home/iotengineer/xilinx-k26-som-2022.1/build/cache/prserv.sqlite3, Address: 127.0.0.1:33703, PID: 9019

iotengineer@iotengineer-Inspiron-3650:~/xilinx-k26-som-2022.1$ petalinux-build

[INFO] Sourcing buildtools

[INFO] Building project

[INFO] Sourcing build environment

[INFO] Generating workspace directory

INFO: bitbake petalinux-image-minimal

NOTE: Started PRServer with DBfile: /home/iotengineer/xilinx-k26-som-2022.1/build/cache/prserv.sqlite3, Address: 127.0.0.1:33703, PID: 9019

| Cloning into 'orocos_kdl-507de66'...
| fatal: unable to access 'https://github.com/orocos/orocos_kinematics_dynamics.git/': error setting certificate verify locations:  CAfile: /usr/local/oe-sdk-hardcoded-buildpath/sysroots/x86_64-petalinux-linux/etc/ssl/certs/ca-certificates.crt CApath: none
| -- Had to git clone more than once:
|           3 times.
| CMake Error at /home/iotengineer/xilinx-k26-som-2022.1/build/tmp/work/cortexa72-cortexa53-xilinx-linux/orocos-kdl-vendor/0.2.2-2-r0/build/orocos_kdl-507de66-prefix/tmp/orocos_kdl-507de66-gitclone.cmake:31 (message):
|   Failed to clone repository:
|   'https://github.com/orocos/orocos_kinematics_dynamics.git'
| 
| 
| ninja: build stopped: subcommand failed.
| WARNING: exit code 1 from a shell command.
ERROR: Task (/home/iotengineer/xilinx-k26-som-2022.1/components/yocto/../../project-spec/meta-ros/meta-ros2-humble/generated-recipes/orocos-kdl-vendor/orocos-kdl-vendor_0.2.2-2.bb:do_compile) failed with exit code '1'
NOTE: Tasks Summary: Attempted 5882 tasks of which 5875 didn't need to be rerun and 1 failed.

Summary: 1 task failed:
  /home/iotengineer/xilinx-k26-som-2022.1/components/yocto/../../project-spec/meta-ros/meta-ros2-humble/generated-recipes/orocos-kdl-vendor/orocos-kdl-vendor_0.2.2-2.bb:do_compile
Summary: There was 1 WARNING message shown.
Summary: There was 1 ERROR message shown, returning a non-zero exit code.
ERROR: Failed to build project. Check the /home/iotengineer/xilinx-k26-som-2022.1/build/build.log file for more details...

| Cloning into 'orocos_kdl-507de66'...

| fatal: unable to access 'https://github.com/orocos/orocos_kinematics_dynamics.git/': error setting certificate verify locations: CAfile: /usr/local/oe-sdk-hardcoded-buildpath/sysroots/x86_64-petalinux-linux/etc/ssl/certs/ca-certificates.crt CApath: none

| -- Had to git clone more than once:

| 3 times.

| CMake Error at /home/iotengineer/xilinx-k26-som-2022.1/build/tmp/work/cortexa72-cortexa53-xilinx-linux/orocos-kdl-vendor/0.2.2-2-r0/build/orocos_kdl-507de66-prefix/tmp/orocos_kdl-507de66-gitclone.cmake:31 (message):

| Failed to clone repository:

| 'https://github.com/orocos/orocos_kinematics_dynamics.git'

| ninja: build stopped: subcommand failed.

| WARNING: exit code 1 from a shell command.

ERROR: Task (/home/iotengineer/xilinx-k26-som-2022.1/components/yocto/../../project-spec/meta-ros/meta-ros2-humble/generated-recipes/orocos-kdl-vendor/orocos-kdl-vendor_0.2.2-2.bb:do_compile) failed with exit code '1'

NOTE: Tasks Summary: Attempted 5882 tasks of which 5875 didn't need to be rerun and 1 failed.

Summary: 1 task failed:

/home/iotengineer/xilinx-k26-som-2022.1/components/yocto/../../project-spec/meta-ros/meta-ros2-humble/generated-recipes/orocos-kdl-vendor/orocos-kdl-vendor_0.2.2-2.bb:do_compile

Summary: There was 1 WARNING message shown.