10 files changed, 221 insertions, 0 deletions

diff --git a/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros-common/recipes-core/packagegroups/packagegroup-xilinx-ros.bb b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros-common/recipes-core/packagegroups/packagegroup-xilinx-ros.bb
new file mode 100644
index 00000000..30237599
--- /dev/null
+++ b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros-common/recipes-core/packagegroups/packagegroup-xilinx-ros.bb
@@ -0,0 +1,167 @@
+DESCRIPTION = "Packages for ROS2 Base and Demos including some basic pub/sub examples"
+
+PACKAGE_ARCH = "${TUNE_PKGARCH}"
+
+inherit packagegroup
+inherit ros_distro_${ROS_DISTRO}
+
+PROVIDES = "${PACKAGES}"
+
+PACKAGES += "${PN}-base ${PN}-demo ${PN}-control"
+
+SUMMARY:${PN}-dev = "ROS packages required for on target development"
+ROS_BUILDESSENTIAL_PACKAGES = "\
+    ament-lint-auto \
+    ament-cmake-auto \
+    ament-cmake-core \
+    ament-cmake-cppcheck \
+    ament-cmake-cpplint \
+    ament-cmake-export-definitions \
+    ament-cmake-export-dependencies \
+    ament-cmake-export-include-directories \
+    ament-cmake-export-interfaces \
+    ament-cmake-export-libraries \
+    ament-cmake-export-link-flags \
+    ament-cmake-export-targets \
+    ament-cmake-gmock \
+    ament-cmake-gtest \
+    ament-cmake-include-directories \
+    ament-cmake-libraries \
+    ament-cmake \
+    ament-cmake-pytest \
+    ament-cmake-python \
+    ament-cmake-ros \
+    ament-cmake-target-dependencies \
+    ament-cmake-test \
+    ament-cmake-version \
+    ament-cmake-uncrustify \
+    ament-cmake-flake8 \
+    ament-cmake-pep257 \
+    ament-copyright \
+    ament-cpplint \
+    ament-flake8 \
+    ament-index-python \
+    ament-lint-cmake \
+    ament-mypy \
+    ament-package \
+    ament-pclint \
+    ament-pep257 \
+    ament-pycodestyle \
+    ament-pyflakes \
+    ament-uncrustify \
+    ament-xmllint \
+    cmake \
+    eigen3-cmake-module \
+    fastcdr \
+    fastrtps-cmake-module \
+    fastrtps \
+    foonathan-memory-vendor \
+    gmock-vendor \
+    gtest-vendor \
+    libyaml \
+    libyaml-vendor \
+    packagegroup-core-buildessential \
+    python-cmake-module \
+    python3-catkin-pkg \
+    python3-colcon-common-extensions \
+    python3-empy \
+    python3 \
+    python3-pytest \
+    rcutils \
+    rmw-implementation-cmake \
+    rosidl-cmake \
+    rosidl-default-generators \
+    rosidl-generator-c \
+    rosidl-generator-cpp \
+    rosidl-generator-dds-idl \
+    rosidl-generator-py \
+    rosidl-parser \
+    rosidl-runtime-c \
+    rosidl-runtime-cpp \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+    rosidl-typesupport-fastrtps-cpp \
+    rosidl-typesupport-interface \
+    rosidl-typesupport-introspection-c \
+    rosidl-typesupport-introspection-cpp \
+"
+
+SUMMARY:${PN}-base = "ROS_BASE_PACKAGES includes ROS base packages"
+ROS_BASE_PACKAGES = "\
+    ros-base \
+    cyclonedds \
+    rmw-cyclonedds-cpp \
+    tmux \
+    python3-argcomplete \
+    glibc-utils \
+    localedef \
+    rt-tests \
+    stress \
+    xrt-dev \
+    xrt \
+    kernel-module-zocl \
+    opencl-headers-dev \
+    opencl-clhpp-dev \
+"
+
+SUMMARY:${PN}-demo = "ROS_DEMO_PACKAGES includes ROS examples demos packages"
+ROS_DEMO_PACKAGES = "\
+    examples-rclcpp-minimal-action-client \
+    examples-rclcpp-minimal-action-server \
+    examples-rclcpp-minimal-client \
+    examples-rclcpp-minimal-composition \
+    examples-rclcpp-minimal-publisher \
+    examples-rclcpp-minimal-service \
+    examples-rclcpp-minimal-subscriber \
+    examples-rclcpp-minimal-timer \
+    examples-rclcpp-multithreaded-executor \
+    examples-rclpy-executors \
+    examples-rclpy-minimal-action-server \
+    examples-rclpy-minimal-client \
+    examples-rclpy-minimal-publisher \
+    examples-rclpy-minimal-service \
+    examples-rclpy-minimal-subscriber \
+    demo-nodes-cpp \
+    demo-nodes-cpp-rosnative \
+"
+
+SUMMARY:${PN}-control = "ROS_CONTROL_PACKAGES includes ROS control packages"
+ROS_CONTROL_PACKAGES = "\
+    controller-interface \
+    controller-manager \
+    controller-manager-msgs \
+    hardware-interface \
+    ros2-control \
+    ros2controlcli \
+    ros2-control-test-assets \
+    transmission-interface \
+"
+
+RDEPENDS:${PN}-base:aarch64 = "\
+    ${ROS_BASE_PACKAGES} \
+"
+
+RDEPENDS:${PN}-demo:aarch64 = "\
+    ${ROS_BASE_PACKAGES} \
+    ${ROS_DEMO_PACKAGES} \
+"
+
+#RDEPENDS:${PN}-control:aarch64 = "\
+#    ${ROS_BASE_PACKAGES} \
+#    ${ROS_CONTROL_PACKAGES} \
+#"
+
+RDEPENDS:${PN}-dev:aarch64 = "\
+    ${ROS_BUILDESSENTIAL_PACKAGES} \
+"
+
+# TODO
+# 1. Due to failing hardware-interfaces disable ${PN}-control
+
+RDEPENDS:${PN}:aarch64 = "\
+    ${PN}-demo \
+    rqt-runtime-monitor \
+"
+
+IMAGE_LINGUAS = "en-us"
+GLIBC_GENERATE_LOCALES = "en_US.UTF-8"
diff --git a/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/ament-lint/ament-flake8_0.17.0-2.bbappend b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/ament-lint/ament-flake8_0.17.0-2.bbappend
new file mode 100644
index 00000000..c22346fa
--- /dev/null
+++ b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/ament-lint/ament-flake8_0.17.0-2.bbappend
@@ -0,0 +1,9 @@
+# Copyright (C) 2024 Advanced Micro Devices, Inc.  All rights reserved.
+
+ROS_EXEC_DEPENDS:remove = " \
+    python3-flake8-builtins \
+    python3-flake8-comprehensions \
+    python3-flake8-docstrings \
+    python3-flake8-import-order \
+    python3-flake8-quotes \
+"
\ No newline at end of file
diff --git a/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/common-interfaces/sensor-msgs-py_%.bbappend b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/common-interfaces/sensor-msgs-py_%.bbappend
new file mode 100644
index 00000000..5c360dbe
--- /dev/null
+++ b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/common-interfaces/sensor-msgs-py_%.bbappend
@@ -0,0 +1 @@
+LICENSE = "BSD-3-Clause"
diff --git a/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/orocos-kdl-vendor/orocos-kdl-vendor_%.bbappend b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/orocos-kdl-vendor/orocos-kdl-vendor_%.bbappend
new file mode 100644
index 00000000..35f4207f
--- /dev/null
+++ b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/orocos-kdl-vendor/orocos-kdl-vendor_%.bbappend
@@ -0,0 +1,2 @@
+SRC_URI:remove = "file://0001-CMakeLists.txt-fetch-orocos-kdl-with-bitbake-fetcher.patch"
+SRCREV_release:forcevariable = "adca6201616af928533d70faea6042fe0239e898"
diff --git a/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/liblz4-vendor_%.bbappend b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/liblz4-vendor_%.bbappend
new file mode 100644
index 00000000..f5378ca6
--- /dev/null
+++ b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/liblz4-vendor_%.bbappend
@@ -0,0 +1,4 @@
+LICENSE = "Apache-2.0 & BSD-3-Clause & GPL-2.0-only"
+ROS_EXEC_DEPENDS:remove = "${ROS_UNRESOLVED_DEP-liblz4}"
+DEPENDS:remove = "${ROS_UNRESOLVED_DEP-liblz4-dev}"
+INSANE_SKIP:${PN} += "dev-so"
diff --git a/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/mcap-vendor/0001-fix-include-dir.patch b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/mcap-vendor/0001-fix-include-dir.patch
new file mode 100644
index 00000000..35650c23
--- /dev/null
+++ b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/mcap-vendor/0001-fix-include-dir.patch
@@ -0,0 +1,27 @@
+From f15236807f0b5ac96979840a12cd0be0c115f055 Mon Sep 17 00:00:00 2001
+From: Trevor Woerner <trevor.woerner@amd.com>
+Date: Thu, 12 Sep 2024 15:21:33 -0400
+Subject: [PATCH] fix include dir
+
+Upstream-Status: inappropriate
+Signed-off-by: Trevor Woerner <trevor.woerner@amd.com>
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index d5789b292025..e5e97fa9fa0f 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -43,7 +43,7 @@ macro(build_mcap_vendor)
+     src/main.cpp
+   )
+ 
+-  set(_mcap_include_dir ${mcap_SOURCE_DIR}/cpp/mcap/include)
++  set(_mcap_include_dir ${mcap_vendor_SOURCE_DIR}/mcap/cpp/mcap/include)
+   file(GLOB _mcap_installed_headers ${_mcap_include_dir}/mcap/*.hpp)
+ 
+   target_include_directories(mcap PUBLIC
+-- 
+2.44.0.478.g7774cfed6261
+
diff --git a/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/mcap-vendor_%.bbappend b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/mcap-vendor_%.bbappend
new file mode 100644
index 00000000..dc63cf76
--- /dev/null
+++ b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/mcap-vendor_%.bbappend
@@ -0,0 +1,6 @@
+FILESEXTRAPATHS:prepend := "${THISDIR}/${PN}:"
+
+B = "${S}"
+SRC_URI:remove = "file://0001-CMakeLists.txt-fetch-dependencies-with-bitbake-fetch.patch"
+SRC_URI:append = " file://0001-fix-include-dir.patch"
+SRCREV_release:forcevariable = "6884e7ba7d29d8db98ad2bbf09a6875bf5141e19"
diff --git a/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/rosbag2-compression-zstd_%.bbappend b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/rosbag2-compression-zstd_%.bbappend
new file mode 100644
index 00000000..b99de447
--- /dev/null
+++ b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/rosbag2-compression-zstd_%.bbappend
@@ -0,0 +1,2 @@
+SRC_URI:remove = "file://0001-CMakeLists.txt-drop-dependency-on-zstd_vendor.patch"
+SRCREV = "3f3c01609c3bef74cfc3f3229b0d57964c6bd465"
diff --git a/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/shared-queues-vendor_%.bbappend b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/shared-queues-vendor_%.bbappend
new file mode 100644
index 00000000..69b50386
--- /dev/null
+++ b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/rosbag2/shared-queues-vendor_%.bbappend
@@ -0,0 +1,2 @@
+SRC_URI:remove = "file://0001-CMakeLists.txt-fetch-readerwriterqueue-and-concurren.patch"
+SRCREV_release:forcevariable = "fea3a738733673c927d77631a735157993ff6395"
diff --git a/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/yaml-cpp-vendor/yaml-cpp-vendor_%.bbappend b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/yaml-cpp-vendor/yaml-cpp-vendor_%.bbappend
new file mode 100644
index 00000000..33e2a0c7
--- /dev/null
+++ b/meta-xilinx-demos/dynamic-layers/meta-ros/meta-ros2-jazzy/recipes-bbappends/yaml-cpp-vendor/yaml-cpp-vendor_%.bbappend
@@ -0,0 +1 @@
+INSANE_SKIP:${PN} += "dev-so"