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KShan1
Beginner
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librealsense yocto layer : Why not configured as a CMake Build?

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Hi

So I've finally begun dabbling with the build system, and building and linking ROS packages to libraries, and I noticed that for the librealsense yocto layer, the default recipe is checking out a specific version of the librealsense library, but instead of letting CMake configure and install the library as in the upstream (https://github.com/IntelRealSense/meta-intel-realsense GitHub - IntelRealSense/meta-intel-realsense: Yocto layer for realsense-sdk and librealsense ) layer, the libraries and header files are manually installed to the system.

However, this results in other packages not being able find_package(realsense), and nor is there a pkgconfig entry in the system for the same. Any particular reason why?

Thanks!

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1 Solution
Murilo_P_Intel
Employee
164 Views

Hi,

I think you will be happy to know that we are doing exactly that for the next release (you can check details https://github.com/intel-aero/meta-intel-aero/commit/07c3b7ec10daa66c3be7ec8c1ed7a414e5740b65 here and some discussion still happening https://github.com/intel-aero/meta-intel-aero/issues/25 here). There are a few leftovers yet that we will address shortly (like stop to install headers on the final image because now the yocto sdk will be made available).

realsense_camera ROS nodelet is being installed but we are facing some issues that may be on upstream as well (we have upgraded our meta-ros fork and soon we hope to get rid of it and track meta-ros upstream).

Furthermore help is needed to test all that, so if you ship to test those changes your feedbacks would be welcome. There are some major changes going on, so I advice you to start on a clean 'repo' from https://github.com/mbelluzzo/intel-aero-manifest GitHub - mbelluzzo/intel-aero-manifest: manifest for intel aero official releases on master branch if you wish to see what is coming. Just remember that things may not be very stable on this branch just yet!

Cheers,

Murilo.

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4 Replies
Murilo_P_Intel
Employee
165 Views

Hi,

I think you will be happy to know that we are doing exactly that for the next release (you can check details https://github.com/intel-aero/meta-intel-aero/commit/07c3b7ec10daa66c3be7ec8c1ed7a414e5740b65 here and some discussion still happening https://github.com/intel-aero/meta-intel-aero/issues/25 here). There are a few leftovers yet that we will address shortly (like stop to install headers on the final image because now the yocto sdk will be made available).

realsense_camera ROS nodelet is being installed but we are facing some issues that may be on upstream as well (we have upgraded our meta-ros fork and soon we hope to get rid of it and track meta-ros upstream).

Furthermore help is needed to test all that, so if you ship to test those changes your feedbacks would be welcome. There are some major changes going on, so I advice you to start on a clean 'repo' from https://github.com/mbelluzzo/intel-aero-manifest GitHub - mbelluzzo/intel-aero-manifest: manifest for intel aero official releases on master branch if you wish to see what is coming. Just remember that things may not be very stable on this branch just yet!

Cheers,

Murilo.

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KShan1
Beginner
164 Views

That is helpful, thanks! I'm very new to yocto, but I think I've got a fair grasp of how things work in the build system.

So, are you saying that I can potentially get *some* registered depth image to the camera image if I pull in the latest sandbox repo that you pointed me to? Because all I really want to do at the moment is benchmark the performance of my codebase against my current system; i.e. what are the issues that you are mentioning in the upstream driver? e.g. I will be ok, for now, if the stream stops after a while.

Do you have any ETA on when this particular milestone will be done? I'd very much like to use the ROS nodes for my research codebase, but I don't really have too many cycles to work on this platform

Alternatively, has anyone (e.g.mindThomas) have any luck using the librealsense ROS driver on an ubuntu image?

KShan1
Beginner
164 Views

Since you don't have an issue tracker, I'm just replying on this thread. I checked out the master as you suggested, but the build failed while trying to compile python-imaging. I manually copied over the patch mentioned at https://github.com/bmwcarit/meta-ros/issues/395 Python-Imaging Error · Issue # 395 · bmwcarit/meta-ros · GitHub to get everything to build.

Murilo_P_Intel
Employee
164 Views

Hey icoderaven,

We do have an issue tracker. The discussion link I listed on my first reply is exactly a discussion happening on it. Anyhow, here is the direct link:

https://github.com/intel-aero/meta-intel-aero/issues Issues · intel-aero/meta-intel-aero · GitHub

We are still not completely done with ROS Node and news about it will be posted on the issue tracker.

Cheers,

Murilo.

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