{galactic} initial version from meta-ros2-rolling without generated-r…

…ecipes

meta-ros$ cp -ra meta-ros2-rolling meta-ros2-galactic
meta-ros$ cd meta-ros2-galactic
meta-ros2-galactic$ rm -rf generated-recipes/ files/rolling/generated/ conf/ros-distro/include/rolling/generated/
meta-ros2-galactic$ git add .
meta-ros2-galactic$ git mv ./files/rolling ./files/galactic
meta-ros2-galactic$ git mv ./conf/ros-distro/include/rolling ./conf/ros-distro/include/galactic
meta-ros2-galactic$ git mv ./classes/ros_distro_rolling.bbclass ./classes/ros_distro_galactic.bbclass
meta-ros2-galactic$ git mv ./recipes-core/packagegroups/packagegroup-ros-world-rolling.bb ./recipes-core/packagegroups/packagegroup-ros-world-galactic.bb

Update rolling -> galactic in various places:
meta-ros2-galactic$ vi classes/ros_distro_galactic.bbclass \
  conf/layer.conf \
  conf/ros-distro/include/galactic/ros-distro.inc \
  conf/ros-distro/include/galactic/ros-distro-preferred-providers.inc \
  conf/ros-distro/include/galactic/ros-distro-preferred-versions.inc \
  recipes-core/packagegroups/packagegroup-ros-world-galactic.bb

Signed-off-by: Martin Jansa <[email protected]>

meta-ros2-galactic/classes/ros_distro_galactic.bbclass

@@ -0,0 +1,7 @@
+# Every ROS recipe, generated or not, must contain "inherit ros_distro_${ROS_DISTRO}".
+#
+# Copyright (c) 2021 LG Electronics, Inc.
+
+ROS_DISTRO = "galactic"
+
+inherit ${ROS_DISTRO_TYPE}_distro

meta-ros2-galactic/conf/layer.conf

@@ -0,0 +1,26 @@
+# We have a conf and classes directory, append to BBPATH
+BBPATH .= ":${LAYERDIR}"
+
+# We have a recipes directory, add to BBFILES
+BBFILES += "${LAYERDIR}/recipes-*/*/*.bb ${LAYERDIR}/recipes-*/*/*.bbappend ${LAYERDIR}/generated-recipes/*/*.bb"
+
+BBFILE_COLLECTIONS += "ros2-galactic-layer"
+BBFILE_PATTERN_ros2-galactic-layer := "^${LAYERDIR}/"
+BBFILE_PRIORITY_ros2-galactic-layer = "12"
+
+# Version 1 was the manually created meta-ros, prior to the introduction of superflore.
+# Version 2 was all ROS distributions in the same meta-ros layer with right subdirectories selected by ROS_DISTRO variable
+# Version 3 is with each ROS distribution in separate sublayer of meta-ros git repository (with modifications to generated recipes applied in .bbappends instead of .inc files)
+LAYERVERSION_ros2-galactic-layer = "3"
+
+LAYERDEPENDS_ros2-galactic-layer = " \
+    core \
+    meta-python \
+    openembedded-layer \
+    ros-common-layer \
+    ros2-layer \
+"
+
+LAYERSERIES_COMPAT_ros2-galactic-layer = "${ROS_OE_RELEASE_SERIES}"
+
+require conf/ros-distro/include/galactic/ros-distro.inc

meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro-preferred-providers.inc

@@ -0,0 +1,6 @@
+# galactic/ros-distro-preferred-providers.inc
+#
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# Set PREFERRED_PROVIDER_<PN> here for non-platform packages and to override those set in
+# ros-distro-platform-preferred-providers.inc .

meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro-preferred-versions.inc

@@ -0,0 +1,6 @@
+# galactic/ros-distro-preferred-versions.inc
+#
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# Set PREFERRED_VERSION_<PN> here for non-platform packages for which the layers provide multiple versions and to override those
+# set in ros-distro-platform-preferred-versions.inc .

meta-ros2-galactic/conf/ros-distro/include/galactic/ros-distro.inc

@@ -0,0 +1,118 @@
+# galactic/ros-distro.inc
+# General configuration settings that are dependent on ROS_DISTRO.
+#
+# Copyright (c) 2021 LG Electronics, Inc.
+
+ROS_DISTRO_CODENAME = "Galactic Geochelone"
+
+ROS2_DISTRO = "galactic"
+
+# The platform release that the metadata for this ROS distro targets. This determines the versions of the platform packages that
+# OE must provide. It must be one of the values of ROS_DISTRO_RELEASE_PLATFORMS (which is set in
+# generated/superflore-ros-distro.inc).
+ROS_DISTRO_BASELINE_PLATFORM = "ubuntu-focal"
+
+require conf/ros-distro/include/galactic/generated/superflore-datetime.inc
+require conf/ros-distro/include/galactic/generated/superflore-ros-distro.inc
+require conf/ros-distro/include/galactic/ros-distro-recipe-blacklist.inc
+require conf/ros-distro/include/galactic/ros-distro-preferred-versions.inc
+require conf/ros-distro/include/galactic/ros-distro-preferred-providers.inc
+
+# Override settings from generated/superflore-ros-distro.inc here.
+
+# Since superflore doesn't know when it's generating a recipe that it will be for a build tool, it can't know that what's in
+# ROS_EXEC_DEPEND are also build tools. Manually add them here.
+ROS_SUPERFLORE_GENERATED_BUILDTOOLS += " \
+    ament-lint-native \
+    cyclonedds-native \
+    domain-coordinator-native \
+    foonathan-memory-vendor-native \
+    iceoryx-binding-c-native \
+    iceoryx-posh-native \
+    iceoryx-utils-native \
+    rcutils-native \
+    rcpputils-native \
+    rmw-dds-common-native \
+    rmw-fastrtps-cpp-native \
+    rmw-fastrtps-shared-cpp-native \
+    rmw-native \
+    rosidl-adapter-native \
+    rosidl-cli-native \
+    rosidl-default-runtime-native \
+    rosidl-parser-native \
+    rosidl-typesupport-fastrtps-c-native \
+    rpyutils-native \
+    uncrustify-vendor-native \
+"
+
+# this needs google-benchmark-vendor-native but we probably don't need native version
+ROS_SUPERFLORE_GENERATED_BUILDTOOLS_remove = "ament-cmake-google-benchmark-native"
+
+# alternative not yet supported implementation for fastrtps
+ROS_WORLD_SKIP_GROUPS += "connext"
+# alternative not yet supported implementation for fastrtps
+ROS_WORLD_SKIP_GROUPS += "opensplice"
+# alternative not yet supported implementation for fastrtps, there is no recipe for gurumdds-2.6
+ROS_WORLD_SKIP_GROUPS += "gurumdds"
+# Can't build these until we figure out how to build clang-format, clang-tidy without building all of clang.
+ROS_WORLD_SKIP_GROUPS += "clang"
+# recipes depending on turtlebot3 specific recipes which weren't ported to eloquent yet
+ROS_WORLD_SKIP_GROUPS += "turtlebot3"
+# recipes depending on coinor-libipopt
+ROS_WORLD_SKIP_GROUPS += "coinor-libipopt"
+# Needs work to launch qemu to run tests on image on build machine.
+ROS_WORLD_SKIP_GROUPS += "launch"
+# recipes depending on ROS_UNRESOLVED_DEP-python3-babeltrace which cannot be just
+# set to babeltrace, because python bindings in babeltrace are not enabled as shown in log.do_configure:
+# configure: You may configure with --enable-python-bindings if you want Python bindings.
+ROS_WORLD_SKIP_GROUPS += "babeltrace-python"
+# recipes depends on cwiid
+ROS_WORLD_SKIP_GROUPS += "cwiid"
+# recipes depends on libspnav
+ROS_WORLD_SKIP_GROUPS += "libspnav"
+
+# recipes depending on 'x11' in DISTRO_FEATURES
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('DISTRO_FEATURES', 'x11', '', 'x11', d)}"
+# recipes depending on 'opengl' in DISTRO_FEATURES
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('DISTRO_FEATURES', 'opengl', '', 'opengl', d)}"
+# recipes depending on 'ffmpeg' which is restricted by 'commercial' LICENSE_FLAG
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains_any('LICENSE_FLAGS_WHITELIST', ['commercial', 'ffmpeg', 'commercial_ffmpeg'], '', 'ffmpeg', d)}"
+# recipes depending on 'x264' (ffmpeg does depend on it by default as well) which is restricted by 'commercial' LICENSE_FLAG
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains_any('LICENSE_FLAGS_WHITELIST', ['commercial', 'x264', 'commercial_x264'], '', 'x264', d)}"
+# There is recipe for glfw in meta-oe in dunfell, but it still needs x11 in DISTRO_FEATURES
+# use that in dunfell and blacklist explicitly in older releases
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('DISTRO_FEATURES', 'x11', '', 'glfw', d)}"
+
+# webots recipes depending on unavailable python moules like:
+# ERROR: Nothing RPROVIDES 'ROS_UNRESOLVED_DEP-python-transforms3d-pip' (but meta-ros2-galactic/generated-recipes/webots-ros2-desktop/webots-ros2-core_0.0.3-1.bb RDEPENDS on or otherwise requires it)
+# ERROR: Nothing RPROVIDES 'ROS_UNRESOLVED_DEP-urdf2webots-pip' (but meta-ros2-galactic/generated-recipes/webots-ros2-desktop/webots-ros2-importer_0.0.3-1.bb RDEPENDS on or otherwise requires it)
+# ERROR: Nothing RPROVIDES 'ROS_UNRESOLVED_DEP-python3-collada-pip' (but meta-ros2-galactic/generated-recipes/webots-ros2-desktop/webots-ros2-importer_0.0.3-1.bb RDEPENDS on or otherwise requires it)
+ROS_WORLD_SKIP_GROUPS += "webots-python-modules"
+
+# ERROR: Nothing PROVIDES 'ROS_UNRESOLVED_DEP-sdformat' (but /jenkins/mjansa/build/ros/webos-galactic-hardknott/meta-ros/meta-ros2-galactic/generated-recipes/sdformat-urdf/sdformat-urdf_0.1.0-1.bb DEPENDS on or otherwise requires it)
+ROS_WORLD_SKIP_GROUPS += "sdformat"
+
+# recipes depending on gazebo, for which there is no OE recipe
+ROS_WORLD_SKIP_GROUPS += "gazebo"
+
+# recipes depending on ros1
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('BBFILE_COLLECTIONS', 'ros1-layer', '', 'ros1', d)}"
+
+# recipes depending on something from meta-qt5 layer
+ROS_WORLD_SKIP_GROUPS += "${@bb.utils.contains('BBFILE_COLLECTIONS', 'qt5-layer', '', 'qt5', d)}"
+
+# do_compile failures
+ROS_WORLD_SKIP_GROUPS += " \
+    qt-gui-cpp \
+"
+
+# Must use a _pn- override in this file to override the ROS_BUILD_TYPE of a generated recipe,
+# because we need to set this variable before the "inherit" line in the recipe is parsed,
+# and having it in a .bbappend sets it too late.
+# We want ament_cmake instead of plain cmake for ros-workspace:
+# https://raw.github.com/ros2-gbp/ros_workspace-release/release/galactic/ros_workspace/1.0.1-2/package.xml
+ROS_BUILD_TYPE_pn-ros-workspace = "ament_cmake"
+
+# Used by generated-recipes/cyclonedds/cyclonedds_0.6.0-3.bb
+ROS_UNRESOLVED_DEP-java-native = ""
+ROS_UNRESOLVED_DEP-maven-native = ""

meta-ros2-galactic/recipes-bbappends/apriltag/apriltag_%.bbappend

@@ -0,0 +1,3 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+inherit ros_insane_dev_so

meta-ros2-galactic/recipes-bbappends/async-web-server-cpp/async-web-server-cpp_2.0.0-1.bbappend

@@ -0,0 +1,5 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+# ERROR: async-web-server-cpp-2.0.0-1-r0 do_package_qa: QA Issue:
+# non -dev/-dbg/nativesdk- package contains symlink .so: async-web-server-cpp path '/work/raspberrypi4-webos-linux-gnueabi/async-web-server-cpp/2.0.0-1-r0/packages-split/async-web-server-cpp/usr/lib/libasync_web_server_cpp.so' [dev-so]
+inherit ros_insane_dev_so

meta-ros2-galactic/recipes-bbappends/behaviortree-cpp/behaviortree-cpp-v3_3.5.6-1.bbappend

@@ -0,0 +1,8 @@
+# Copyright (c) 2020 LG Electronics, Inc.
+
+ROS_BUILD_DEPENDS += " \
+    ament-cmake-gtest \
+    cppzmq \
+"
+
+FILES_${PN}-dev += "${libdir}/BehaviorTreeV3/cmake"

meta-ros2-galactic/recipes-bbappends/bond-core/bond_3.0.1-3.bbappend

@@ -0,0 +1,6 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+"

meta-ros2-galactic/recipes-bbappends/bond-core/test-bond_3.0.1-3.bbappend

@@ -0,0 +1,6 @@
+# Copyright (c) 2021 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+"

meta-ros2-galactic/recipes-bbappends/cartographer-ros/cartographer-ros-msgs_1.0.9003-3.bbappend

@@ -0,0 +1,17 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+ROS_BUILDTOOL_DEPENDS += " \
+    rosidl-parser-native \
+    rosidl-adapter-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+    python3-numpy-native \
+    python3-lark-parser-native \
+"
+
+# Without the target rosidl-typesupport-{c,cpp}, ament finds the native packages and then fails to link (error: incompatible
+# target).
+ROS_BUILD_DEPENDS += " \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+"

meta-ros2-galactic/recipes-bbappends/cartographer-ros/cartographer-ros_1.0.9003-3.bbappend

@@ -0,0 +1,3 @@
+# Copyright (c) 2019-2020 LG Electronics, Inc.
+
+DEPENDS += "eigen3-cmake-module"

meta-ros2-galactic/recipes-bbappends/cartographer/cartographer/0001-CMakeLists.txt-link-with-dl.patch

@@ -0,0 +1,43 @@
+From 60167d74d788f308ba3c23fa8b72ea7028d840bc Mon Sep 17 00:00:00 2001
+From: Martin Jansa <[email protected]>
+Date: Fri, 15 May 2020 05:55:56 -0700
+Subject: [PATCH] CMakeLists.txt: link with dl
+
+* fixes:
+FAILED: cartographer.mapping.internal.motion_filter_test
+: && /jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot-native/usr/bin/arm-webos-linux-gnueabi/arm-webos-linux-gnueabi-g++  -mthumb -mfpu=neon-vfpv4 -mfloat-abi=hard -mcpu=cortex-a7 -fstack-protector-strong  -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fmacro-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0=/usr/src/debug/cartographer/1.0.0-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0=/usr/src/debug/cartographer/1.0.0-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot=                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   -mthumb -mfpu=neon-vfpv4 -mfloat-abi=hard -mcpu=cortex-a7 -fstack-protector-strong  -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot -fuse-ld=gold -DNDEBUG  -mthumb -mfpu=neon-vfpv4 -mfloat-abi=hard -mcpu=cortex-a7 -fstack-protector-strong  -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot  -O2 -pipe -g -feliminate-unused-debug-types -fmacro-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0=/usr/src/debug/cartographer/1.0.0-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0=/usr/src/debug/cartographer/1.0.0-1-r0                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot=                      -fdebug-prefix-map=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot-native=  -fvisibility-inlines-hidden   -mthumb -mfpu=neon-vfpv4 -mfloat-abi=hard -mcpu=cortex-a7 -fstack-protector-strong  -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -Werror=return-type  --sysroot=/jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot -fuse-ld=gold -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -fstack-protector-strong -Wl,-z,relro,-z,now -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -fstack-protector-strong -Wl,-z,relro,-z,now   -rdynamic CMakeFiles/cartographer.mapping.internal.motion_filter_test.dir/cartographer/mapping/internal/motion_filter_test.cc.o  -o cartographer.mapping.internal.motion_filter_test  libcartographer.a  -Wl,-Bstatic  -lgmock_main  -lgmock  -lgtest  -Wl,-Bdynamic  -lpthread  libcartographer_test_library.a  libcartographer.a  /jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot/usr/lib/libceres.a  /jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot/usr/lib/libglog.so.0.3.5  -lunwind  -lunwind-arm  -lspqr  -lcholmod  -lccolamd  -lcamd  -lcolamd  -lamd  -llapack  -lblas  -lsuitesparseconfig  -lrt  -lmetis  -lcxsparse  -llapack  -lblas  -lsuitesparseconfig  -lrt  -lmetis  -lcxsparse  -lgomp  -lpthread  -Wl,-Bstatic  -llua  -Wl,-Bdynamic  -lm  /jenkins/mjansa/build/ros/webos-dashing-gatesgarth/tmp-glibc/work/raspberrypi4-webos-linux-gnueabi/cartographer/1.0.0-1-r0/recipe-sysroot/usr/lib/libboost_iostreams.so.1.72.0  -lglog  -lgflags  -lcairo  -lprotobuf  -lpthread && :
+loadlib.c:134: error: undefined reference to 'dlsym'
+loadlib.c:127: error: undefined reference to 'dlopen'
+loadlib.c:135: error: undefined reference to 'dlerror'
+loadlib.c:128: error: undefined reference to 'dlerror'
+loadlib.c:122: error: undefined reference to 'dlclose'
+collect2: error: ld returned 1 exit status
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <[email protected]>
+---
+ CMakeLists.txt        | 3 ++-
+ 1 files changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 2e3a686..cf040c6 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -178,6 +178,7 @@ google_binary(cartographer_compute_relations_metrics
+   SRCS
+     cartographer/ground_truth/compute_relations_metrics_main.cc
+ )
++target_link_libraries(cartographer_compute_relations_metrics PUBLIC -ldl)
+
+ google_binary(cartographer_migrate_serialization_format
+   SRCS
+@@ -263,7 +264,7 @@ foreach(ABS_FIL ${ALL_TESTS})
+   if(${BUILD_PROMETHEUS})
+     target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp)
+   endif()
+-  target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
++  target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB} -ldl)
+ endforeach()
+
+ # Add the binary directory first, so that port.h is included after it has