add ros_cpp

cross_compile/compose.yaml

@@ -13,19 +13,17 @@ services:
     build:
       context: . # 上下文设为根目录，这样才能同时访问 rk3588 文件夹
       dockerfile: ${PLATFORM}/Dockerfile.cc_${PLATFORM}
-      args:
-        - BASE_TAG=latest
     image: cc-${PLATFORM}:latest
     depends_on:
       - cc-base
 
   # 第三步：编译最终的供应商包镜像
-  vendor_packages:
+  vendor-packages:
     build:
       context: .
       dockerfile: vendor_packages/Dockerfile.vendor_packages
       args:
-        - BASE_IMAGE=cc-${PLATFORM}:latest
+        CC_PLATFORM_IMAGE: cc-${PLATFORM}:latest
     image: vendor-packages:${PLATFORM}
     depends_on:
       - cc-platform
@@ -35,10 +33,10 @@ services:
       context: .
       dockerfile: ros2/Dockerfile.ros_${ROS_DISTRO}
       args:
-        - ROS_DISTRO=rolling
+        ROS_DISTRO: rolling
-        - PLATFORM=${PLATFORM}
+        PLATFORM: ${PLATFORM}
-        - CC_PLATFORM_IMAGE=cc-${PLATFORM}:latest
+        CC_PLATFORM_IMAGE: cc-${PLATFORM}:latest
-        - VENDOR_PACKAGES=vendor-packages:${PLATFORM}
+        VENDOR_PACKAGES_IMAGE: vendor-packages:${PLATFORM}
     image: cc-ros-${ROS_DISTRO}:${PLATFORM}
     depends_on:
-      - vendor_packages
+      - vendor-packages

cross_compile/ros2/Dockerfile.ros_rolling

@@ -1,8 +1,7 @@
 ARG CC_PLATFORM_IMAGE
-ARG VENDOR_PACKAGES
+ARG VENDOR_PACKAGES_IMAGE
-ARG PLATFORM
 
-FROM ${CC_PLATFORM_IMAGE} as ros_src
+FROM ${CC_PLATFORM_IMAGE} AS ros_src
 
 ARG ROS_DISTRO
 
@@ -12,9 +11,28 @@ COPY ros2/ros_rolling.repos .
 RUN vcs import --input ros_${ROS_DISTRO}.repos src
 RUN echo "Build ros ${ROS_DISTRO}"
 
-FROM vendor-packages:${PLATFORM} AS vendor_images
+FROM ${VENDOR_PACKAGES_IMAGE} AS vendor_images
 
-FROM ${CC_PLATFORM_IMAGE} as ros_builder
+FROM ${CC_PLATFORM_IMAGE} AS ros_builder
 
 COPY --from=ros_src /workspace /workspace
 COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+
+RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
+    && touch src/ros2/rosbag2/rosbag2_storage_sqlite3/COLCON_IGNORE
+
+RUN MAKEFLAGS="-j6" colcon build \
+    --executor parallel \
+    --parallel-workers 6 \
+    --install-base ${TARGET_SYSROOT} \
+    --merge-install \
+    --packages-up-to ros_cpp \
+    --cmake-force-configure \
+    --cmake-args \
+    --no-warn-unused-cli \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
+    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+    -DBUILD_TESTING=OFF \
+    -DTRACETOOLS_DISABLED=ON \
+    -DCV_BRIDGE_DISABLE_PYTHON=ON

cross_compile/ros2/ros_cpp/CMakeLists.txt

@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 3.8)
+project(ros_cpp)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()

cross_compile/ros2/ros_cpp/package.xml

@@ -0,0 +1,94 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros_cpp</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ericzhao0325@163.com">ericx</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>ament_cmake_auto</depend>
+
+  <!-- <depend>tinyxml2</depend>
+  <depend>eigen3_vendor</depend>
+  <depend>ceres_vendor</depend>
+  <depend>opencv_vendor</depend> -->
+  <depend>console_bridge_vendor</depend>
+
+  <depend>rcl_lifecycle</depend>
+
+    <!-- rcl repo -->
+  <depend>rcl_lifecycle</depend>
+
+  <!-- rclcpp repo -->
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_lifecycle</depend>
+
+  <!-- rclpy repo -->
+  <depend>rclpy</depend>
+
+  <!-- rosidl_defaults repo -->
+  <depend>rosidl_default_generators</depend>
+  <depend>rosidl_default_runtime</depend>
+
+  <!-- ros_environment repo -->
+  <depend>ros_environment</depend>
+
+  <!-- common_interfaces repo -->
+  <depend>common_interfaces</depend>
+
+  <!-- launch repo -->
+  <depend>launch</depend>
+  <depend>launch_testing</depend>
+  <depend>launch_testing_ament_cmake</depend>
+  <depend>launch_xml</depend>
+  <depend>launch_yaml</depend>
+
+  <!-- launch_ros repo -->
+  <depend>launch_ros</depend>
+  <depend>launch_testing_ros</depend>
+  <depend>ros2launch</depend>
+  
+  <!-- ros2cli_common_extensions repo -->
+  <depend>ros2cli_common_extensions</depend>
+
+  <!-- class_loader repo -->
+  <depend>class_loader</depend>
+  <!-- pluginlib repo -->
+  <depend>pluginlib</depend>
+
+   <!-- rosbag2 repo -->
+  <depend>rosbag2</depend>
+  
+  <!-- geometry2 repo -->
+  <depend>geometry2</depend>
+
+  <depend>diagnostics</depend>
+
+  <!-- robot_state_publisher repo -->
+  <!-- <depend>robot_state_publisher</depend> -->
+
+  <depend>image_common</depend>
+  <depend>image_pipeline</depend>
+  <depend>image_transport_plugins</depend>
+
+  <!-- No laser_pipeline on ROS 2 yet, break it up -->
+  <!-- <depend>laser_filters</depend>
+  <depend>laser_geometry</depend> -->
+
+  <depend>perception_pcl</depend>
+  <depend>vision_opencv</depend>
+  <depend>vision_msgs</depend>
+  <depend>ffmpeg_image_transport_msgs</depend>
+  <depend>eigen_stl_containers</depend>
+  <depend>angles</depend>
+  <depend>geographic_info</depend>
+  <depend>urdf</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

cross_compile/ros2/ros_rolling.repos

@@ -415,3 +415,7 @@ repositories:
     type: git
     url: https://github.com/ros-perception/vision_opencv.git
     version: rolling
+  ros2/console_bridge_vendor:
+    type: git
+    url: https://github.com/ros2/console_bridge_vendor.git
+    version: rolling