TI中文支持网Part Number:TDA4VM
您好，我正在移植meta-ros到yocto pro中，使用TDA4工程
我增加了源码如下。
cd source
git clone -b dunfell https://github.com/ros/meta-ros.git
在conf/bblayer.conf添加了meta-ros相关包
在conf/setenv中添加了
export ROS_OE_RELEASE_SERIES="dunfell"
export BB_ENV_EXTRAWHITE="$BB_ENV_EXTRAWHITE ROS_OE_RELEASE_SERIES"
添加了文件
SUMMARY = "A image including a bare-minimum installation of ROS 2 and including some basic pub/sub examples. It includes two DDS middleware implementations, FastDDS and Cyclone DDS"
DESCRIPTION = "${SUMMARY}"
inherit ros_distro_${ROS_DISTRO}
inherit ${ROS_DISTRO_TYPE}_image
ROS_SYSROOT_BUILD_DEPENDENCIES = " \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 \git \gmock-vendor \gtest-vendor \pkgconfig \python-cmake-module \python3-catkin-pkg \python3-empy \python3 \python3-nose \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 \foonathan-memory-vendor \libyaml-vendor \
"
IMAGE_INSTALL:append = " \ros-base \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-client \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 \demo-nodes-py \cyclonedds \rmw-cyclonedds-cpp \tmux \python3-argcomplete \glibc-utils \rt-tests \stress \${ROS_SYSROOT_BUILD_DEPENDENCIES} \
"
#opencl-headers-dev \
#byobu \
#localedef \
#xrt-dev \
#xrt \
#zocl \
#opencl-clhpp-dev \
# IMAGE_LINGUAS = "en-us"
# GLIBC_GENERATE_LOCALES = "en_US.UTF-8"
执行 TOOLCHAIN_BASE=/home/yk/tda4/toolchain MACHINE=j7-evm bitbake -k arago-core-psdkla-bundle 报错如下
yk@EcoLinux:~/tda4/sdk/yocto-build/build$ TOOLCHAIN_BASE=/home/yk/tda4/toolchain MACHINE=j7-evm bitbake -k arago-core-psdkla-bundle
WARNING: Layer meta-psdkla should set LAYERSERIES_COMPAT_meta-psdkla in its conf/layer.conf file to list the core layer names it is compatible with.
WARNING: Layer meta-psdkla should set LAYERSERIES_COMPAT_meta-psdkla in its conf/layer.conf file to list the core layer names it is compatible with.
NOTE: Started PRServer with DBfile: /home/yk/tda4/sdk/yocto-build/build/cache/prserv.sqlite3, IP: 127.0.0.1, PORT: 41697, PID: 21056
WARNING: Layer meta-psdkla should set LAYERSERIES_COMPAT_meta-psdkla in its conf/layer.conf file to list the core layer names it is compatible with.
WARNING: Layer meta-psdkla should set LAYERSERIES_COMPAT_meta-psdkla in its conf/layer.conf file to list the core layer names it is compatible with.
Loading cache: 100% |###############################################################################################################| Time: 0:00:01
Loaded 11128 entries from dependency cache.
NOTE: Resolving any missing task queue dependencies
NOTE: Resolving any missing task queue dependencies
NOTE: Resolving any missing task queue dependencies
NOTE: Resolving any missing task queue dependencies
NOTE: Resolving any missing task queue dependencies
NOTE: Resolving any missing task queue dependencies
Build Configuration:
BB_VERSION= "1.46.0"
BUILD_SYS= "x86_64-linux"
NATIVELSBSTRING= "ubuntu-18.04"
TARGET_SYS= "aarch64-linux"
MACHINE= "j7-evm"
DISTRO= "arago"
DISTRO_VERSION= "2021.09"
TUNE_FEATURES= "aarch64"
TARGET_FPU= ""
DISTRO_NAME= "Arago"
ROS_DISTRO= "foxy"
ROS_VERSION= "2"
ROS_PYTHON_VERSION= "3"
meta-arago-distro
meta-arago-extras= "HEAD:f798b7a60966528c8eec33b43546a744f545fc4e"
meta-psdkla= "HEAD:06a6260f965ad7765581878c52b0bed894103847"
meta-qt5= "HEAD:5ef3a0ffd3324937252790266e2b2e64d33ef34f"
meta-virtualization = "HEAD:beea119eb529b4a11f266004aee8b548427aea39"
meta-networking
meta-python
meta-oe
meta-gnome
meta-filesystems= "HEAD:7203130ed8b58c0df75cb72222ac2bcf546bce44"
meta-ti= "HEAD:f8ddf45aca3fe5dd8b39bca8610b1e54a035eb5d"
meta-arm
meta-arm-toolchain= "HEAD:c4f04f3fb66f8f4365b08b553af8206372e90a63"
meta= "HEAD:1ee082e979baaba871bbe1d91181bb04951faf3b"
meta-aws= "HEAD:49e7a5ffb8799b9eee638a6a5425a13b00c33215"
meta-jupyter= "HEAD:82db248e2eca36e52cbeafe599b755dc87720383"
meta-ros2-foxy
meta-ros2
meta-ros-common
meta-ros-backports-gatesgarth
meta-ros-backports-hardknott = "dunfell:cd2e0d0625385ca821aa5129d20805640ac80734"
Build Configuration:
BB_VERSION= "1.46.0"
BUILD_SYS= "x86_64-linux"
NATIVELSBSTRING= "ubuntu-18.04"
TARGET_SYS= "arm-linux-gnueabi"
MACHINE= "j7-evm-k3r5"
DISTRO= "arago"
DISTRO_VERSION= "2021.09"
TUNE_FEATURES= "arm armv7a vfp thumb callconvention-hard"
TARGET_FPU= "hard"
DISTRO_NAME= "Arago"
ROS_DISTRO= "foxy"
ROS_VERSION= "2"
ROS_PYTHON_VERSION= "3"
meta-arago-distro
meta-arago-extras= "HEAD:f798b7a60966528c8eec33b43546a744f545fc4e"
meta-psdkla= "HEAD:06a6260f965ad7765581878c52b0bed894103847"
meta-qt5= "HEAD:5ef3a0ffd3324937252790266e2b2e64d33ef34f"
meta-virtualization = "HEAD:beea119eb529b4a11f266004aee8b548427aea39"
meta-networking
meta-python
meta-oe
meta-gnome
meta-filesystems= "HEAD:7203130ed8b58c0df75cb72222ac2bcf546bce44"
meta-ti= "HEAD:f8ddf45aca3fe5dd8b39bca8610b1e54a035eb5d"
meta-arm
meta-arm-toolchain= "HEAD:c4f04f3fb66f8f4365b08b553af8206372e90a63"
meta= "HEAD:1ee082e979baaba871bbe1d91181bb04951faf3b"
meta-aws= "HEAD:49e7a5ffb8799b9eee638a6a5425a13b00c33215"
meta-jupyter= "HEAD:82db248e2eca36e52cbeafe599b755dc87720383"
meta-ros2-foxy
meta-ros2
meta-ros-common
meta-ros-backports-gatesgarth
meta-ros-backports-hardknott = "dunfell:cd2e0d0625385ca821aa5129d20805640ac80734"
Initialising tasks: 100% |##########################################################################################################| Time: 0:00:11
Sstate summary: Wanted 2 Found 0 Missed 2 Current 5808 (0% match, 99% complete)
NOTE: Executing Tasks
ERROR: arago-core-psdkla-bundle-1.0-r0_psdkla_5 do_rootfs: Error executing a python function in exec_func_python() autogenerated:
The stack trace of python calls that resulted in this exception/failure was:
File: 'exec_func_python() autogenerated', lineno: 2, function: <module>0001:
*** 0002:do_rootfs(d)0003:
File: '/home/yk/tda4/sdk/yocto-build/sources/meta-arago/meta-arago-distro/classes/tisdk-bundle.bbclass', lineno: 713, function: do_rootfs0709:# generate the initial manifest0710:create_manifest(d)0711:0712:# generate rootfs
*** 0713:create_rootfs(d)0714:}0715:0716:fakeroot python do_image () {0717:from oe.utils import execute_pre_post_process
File: '/home/yk/tda4/sdk/yocto-build/sources/oe-core/meta/lib/oe/rootfs.py', lineno: 979, function: create_rootfs0975:img_type = d.getVar('IMAGE_PKGTYPE')0976:if img_type == "rpm":0977:RpmRootfs(d, manifest_dir, progress_reporter, logcatcher).create()0978:elif img_type == "ipk":
*** 0979:OpkgRootfs(d, manifest_dir, progress_reporter, logcatcher).create()0980:elif img_type == "deb":0981:DpkgRootfs(d, manifest_dir, progress_reporter, logcatcher).create()0982:0983:os.environ.clear()
File: '/home/yk/tda4/sdk/yocto-build/sources/oe-core/meta/lib/oe/rootfs.py', lineno: 214, function: create0210:execute_pre_post_process(self.d, rootfs_post_install_cmds)0211:0212:self.pm.run_intercepts()0213:
*** 0214:execute_pre_post_process(self.d, post_process_cmds)0215:0216:if self.progress_reporter:0217:self.progress_reporter.next_stage()0218:
File: '/home/yk/tda4/sdk/yocto-build/sources/oe-core/meta/lib/oe/utils.py', lineno: 264, function: execute_pre_post_process0260:for cmd in cmds.strip().split(';'):0261:cmd = cmd.strip()0262:if cmd != '':0263:bb.note("Executing %s ..." % cmd)
*** 0264:bb.build.exec_func(cmd, d)0265:0266:# For each item in items, call the function 'target' with item as the first0267:# argument, extraargs as the other arguments and handle any exceptions in the0268:# parent thread
File: '/home/yk/tda4/sdk/yocto-build/sources/bitbake/lib/bb/build.py', lineno: 254, function: exec_func0250:with bb.utils.fileslocked(lockfiles):0251:if ispython:0252:exec_func_python(func, d, runfile, cwd=adir)0253:else:
*** 0254:exec_func_shell(func, d, runfile, cwd=adir)0255:0256:try:0257:curcwd = os.getcwd()0258:except:
File: '/home/yk/tda4/sdk/yocto-build/sources/bitbake/lib/bb/build.py', lineno: 455, function: exec_func_shell0451:with open(fifopath, 'r+b', buffering=0) as fifo:0452:try:0453:bb.debug(2, "Executing shell function %s" % func)0454:with open(os.devnull, 'r+') as stdin, logfile:
*** 0455:bb.process.run(cmd, shell=False, stdin=stdin, log=logfile, extrafiles=[(fifo,readfifo)])0456:finally:0457:os.unlink(fifopath)0458:0459:bb.debug(2, "Shell function %s finished" % func)
File: '/home/yk/tda4/sdk/yocto-build/sources/bitbake/lib/bb/process.py', lineno: 184, function: run0180:0181:if pipe.returncode != 0:0182:if log:0183:# Don't duplicate the output in the exception if logging it
*** 0184:raise ExecutionError(cmd, pipe.returncode, None, None)0185:raise ExecutionError(cmd, pipe.returncode, stdout, stderr)0186:return stdout, stderr
Exception: bb.process.ExecutionError: Execution of '/home/yk/tda4/sdk/yocto-build/build/arago-tmp-external-arm-glibc/work/j7_evm-linux/arago-core-psdkla-bundle/1.0-r0_psdkla_5/temp/run.tisdk_image_build.24486' failed with exit code 1
ERROR: Logfile of failure stored in: /home/yk/tda4/sdk/yocto-build/build/arago-tmp-external-arm-glibc/work/j7_evm-linux/arago-core-psdkla-bundle/1.0-r0_psdkla_5/temp/log.do_rootfs.24486
ERROR: Task (/home/yk/tda4/sdk/yocto-build/sources/meta-psdkla/recipes-core/images/arago-core-psdkla-bundle.bb:do_rootfs) failed with exit code '1'
NOTE: Tasks Summary: Attempted 17918 tasks of which 16711 didn't need to be rerun and 1 failed.
NOTE: Writing buildhistory
NOTE: Writing buildhistory took: 4 seconds
NOTE: Writing buildhistory
NOTE: Writing buildhistory took: 3 seconds
Summary: 1 task failed:/home/yk/tda4/sdk/yocto-build/sources/meta-psdkla/recipes-core/images/arago-core-psdkla-bundle.bb:do_rootfs
Summary: There were 4 WARNING messages shown.
Summary: There was 1 ERROR message shown, returning a non-zero exit code.
请问我 如何解决？
Katherine Wang：
已为您咨询TI资深工程师，稍后给您回复
,
Katherine Wang：
关于TDA4VM 上的ROS，建议一开始使用 Robotics SDK：https://software-dl.ti.com/jacinto7/esd/robotics-sdk/08_01_00/docs/source/README.html
