VxWorks® 7 Layer for ROS 2

Overview

The VxWorks 7 Layer for ROS 2 provides the recipes for building the dependencies needed by ROS 2 on VxWorks. The Robot Operating System 2 is a set of software libraries and tools that aid in building robot applications. ROS 2 is a re-architecture of the framework to include support for new use cases.

These new use cases include:

• Teams of multiple robots
• Small embedded platforms
• Real-time systems
• Non-ideal networks
• Production environment
• Design patterns for building and structuring systems

This layer is an adapter to make standard ROS 2 build and run on VxWorks. This layer does not contain the ROS 2 source, it only contains all functions required to allow ROS 2 to build and execute on top of VxWorks. Use this layer to add the ROS 2 framework to your user space, and to build the ROS 2 example applications as RTPs.

NOTE: ROS 2 is not part of any VxWorks® product. If you need help, use the resources available or contact your Wind River sales representative to arrange for consulting services.

Project License

The source code for this project is provided under the Apache 2.0 license. Text for the ROS 2 dependencies and other applicable license notices can be found in the LICENSE file in the project top-level directory. Different files may be under different licenses. Each source file should include a license notice that designates the licensing terms for the respective file.

Prerequisite(s)

• Install the Wind River® VxWorks® 7 SDK.

• The build system will need to download source code from github.com and bitbucket.org. A working Internet connection with access to both sites is required.

• A writeable VxWorks 7 product installation that is user-writeable and may be patched with changes specific to building ROS 2.

Setup

Please refer to vxworks7-ros2-build repository for build scripts and Docker containers to completely automate your builds.

These scripts assume that the repository for this layer will be automatically cloned and placed in the following location:

installDir/build/ros2/patches

Please refer to the build scripts for steps on how to build ROS 2 for VxWorks 7, using this layer.

Legal Notices

All product names, logos, and brands are property of their respective owners. All company, product and service names used in this software are for identification purposes only. Wind River and VxWorks are registered trademarks of Wind River Systems, Inc. UNIX is a registered trademark of The Open Group.

Disclaimer of Warranty / No Support: Wind River does not provide support and maintenance services for this software, under Wind River’s standard Software Support and Maintenance Agreement or otherwise. Unless required by applicable law, Wind River provides the software (and each contributor provides its contribution) on an “AS IS” BASIS, WITHOUT WARRANTIES OF ANY KIND, either express or implied, including, without limitation, any warranties of TITLE, NONINFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for determining the appropriateness of using or redistributing the software and assume any risks associated with your exercise of permissions under the license.