VXWorks7 update on ROS2 Humble?

[enriLoniterp]

Hi @razr, i hope you enjoy the summer and you are fine.

I'm working on my personal project and i would like to know if you have plans for porting ROS2 Humble to VXworks7. My architecture is based on Ros2Humble, i have available a MoveIt! project for a pick and place application with my "personal" robot, also this robot should communicate with the Servo motor through EtherCAT connection and luckily i have one EtherCAT master working with ROS 2 Control. All this packages and library should work alongside Ros2 Humble.

So, i ask you if you have in mind to add ros2 humble and if it is, should i add my packages as described in VxWorks ROS2 development or for MoveIt and ROS2 Control packages i should modify you code directly and build VxWorks directly with them(Moveit and ros2Control package).

Thank you again for help, hope everything ok

Enrico

[razr]

I have a first working prototype here. I have never tried to port Movit. I'd recommend starting with a native ROS2 development to bring everything together.

[enriLoniterp]

Hi @razr ,

I'm going to test this prototype as soon as possible, thank you very much for the work.

I agree with you about the native ROS2 development, but it would be amazing to port MoveIt2. If you don't mind, could you explain me how to port it?

Enrico

[enriLoniterp]

Hi @razr,

i'm just trying to replicate what achieved in the version for dashing diademata on Humble version downloading your protype bur fiast problem occured:

on sudo docker build -t vxros2build:humble Docker/vxros2build/.

[sudo] password for rosdev: 
Sending build context to Docker daemon  10.24kB
Step 1/16 : FROM vxbuild:22.04
pull access denied for vxbuild, repository does not exist or may require 'docker login': denied: requested access to the resource is denied

I don't is anything about me but i can proceed looking for it online.

Thanks you again for the help, Enrico

[razr]

@enriLoniterp, have you built vxbuild:22.04 before?

docker build -t vxbuild:22.04 Docker/vxbuild/.
docker build -t vxros2build:humble Docker/vxros2build/.

[enriLoniterp]

Hi @razr , solved rev problem (my side problem)

Now i've installed everything new and follower humble README.

you made create a dir in Download called wrsdk but then in docker run you haven't written ( think adding it is correct)

Looked like this:

sudo docker run -ti -v ~/Downloads/wrsdk/wrsdk-vxworks7-qemu:/wrsdk -v $PWD:/work vxros2build:humble
wruser@80394c3793a1:/work$ ls /wrsdk
NCLA.txt  README.md  compilers  docs  examples  sdk.json  sdk.yml  sdkenv.sh  tools  vxsdk
wruser@80394c3793a1:/work$ source /wrsdk/sdkenv.sh
wruser@80394c3793a1:/work$ make
Makefile:20: *** WIND_CC_SYSROOT is not set, please source the environment.  Stop.
wruser@80394c3793a1:/work$ make^C
wruser@80394c3793a1:/work$ exit

i do remember this error was a deal also in master branch but can't remember what it's be done to resolve it. Thanks a lot!

Enrico

[razr]

@enriLoniterp, you should check out the humble-release-22.03 branch from my forked repo. However, I'd recommend waiting until I merge it to the main repo.

[enriLoniterp]

Hi @razr, the piece of code i shared it is about humble-release-22.03 branch (ROS2 Humble) But I do remember dealing with the same problem for Dashing!

If i'm not disturbing, when did you plan the merging on the main repo?

Thanks a lot, Enrico

[razr]

@enriLoniterp,

You have this error

wruser@80394c3793a1:/work$ make
Makefile:20: *** WIND_CC_SYSROOT is not set, please source the environment.  Stop.

but there is no such message on line 20 https://github.com/razr/vxworks7-ros2-build/blob/humble-release-22.03/Makefile#L20

I plan to merge it this week

[enriLoniterp]

Hi @razr, i've seen you merged humble branch to main!

I think i should close this issue and maybe try a new one eventually after i tested this version!

Thank you very very much again !

Enrico