Xilinx
Issue with source the ROS 2 overlay workspace - 0 ROS 2 publisher
While trying the vadd_publisher example onboard, the step to source the ROS 2 overlay workspace . /ros2_ws/local_setup.bash, is failing as there is no ros2_ws folder in /
xilinx-k26-som-2021_2:~$ ls -l /
total 64
drwxr-xr-x 2 root root 4096 Mar 19 03:11 bin
drwxr-xr-x 3 root root 4096 Mar 19 03:11 boot
drwxr-xr-x 4 root root 0 Dec 31 1969 configfs
drwxr-xr-x 13 root root 14540 Mar 9 2018 dev
drwxr-xr-x 58 root root 4096 Mar 19 04:12 etc
drwxr-xr-x 4 root root 4096 Mar 19 03:11 home
lrwxrwxrwx 1 root root 10 Mar 19 03:11 init -> /sbin/init
drwxr-xr-x 4 root root 4096 Mar 19 03:11 krs_ws
drwxr-xr-x 9 root root 4096 Mar 19 03:11 lib
drwx------ 2 root root 16384 Mar 19 03:11 lost+found
drwxr-xr-x 4 root root 4096 Dec 31 1969 media
drwxr-xr-x 2 root root 4096 Dec 31 1969 mnt
drwxr-xr-x 3 root root 4096 Mar 19 03:11 opt
dr-xr-xr-x 163 root root 0 Dec 31 1969 proc
drwxr-xr-x 7 root root 620 Mar 9 2018 run
drwxr-xr-x 3 root root 4096 Mar 19 03:11 sbin
dr-xr-xr-x 13 root root 0 Dec 31 1969 sys
lrwxrwxrwx 1 root root 8 Mar 9 2018 tmp -> /var/tmp
drwxr-xr-x 11 root root 4096 Mar 19 03:11 usr
drwxr-xr-x 9 root root 4096 Mar 9 2018 var
I believe . /krs_ws/local_setup.bash is the corrent one
No, you are mixing things up.
krs_ws is the workspace in your workstation to build KRS. ros2_ws is the resulting cross-compiled install directory that you need to scp into the embedded board.
It’s explained as such in the documentation. Refer to it.
In the double_vadd it mentiones we can scp the content to board. But in the vadd-publisher, it says the content is already copied to sd_card.img.
$ . /ros2_ws/local_setup.bash # source the ROS 2 overlay workspace we just
# created. Note it has been copied to the SD
# card image while being created.
But there is no ros2_ws, but instead, i found krs_ws in root folder
But in the vadd-publisher, it says the content is already copied to sd_card.img.
Correct, the following line does it:
colcon acceleration linux vanilla --install-dir install-kv260
Which can be traced back to:
- https://github.com/ros-acceleration/colcon-acceleration/blob/main/colcon_acceleration/subverb/linux.py#L505
- https://github.com/ros-acceleration/colcon-acceleration/blob/19829c2155d0469cd5d8ae15b2e0a92bf32fe99d/colcon_acceleration/subverb/init.py#L645
I recall having enforced the naming ros2_ws somewhere but don't quite find it right now. @mohammedrafi-sk can you check if you got a /install-kv260 instead in your embedded device? If so, that's the actual confusion and it'd need to be fixed in the documentation (and a PR would be more than welcome!).
Renaming or scp-ing the folder will do for you.
No, I don't see any /install-kv260 folder on the board.
Here is the content on the root folder https://github.com/Xilinx/KRS/issues/50#issue-1174243382
No, I don't see any /install-kv260 folder on the board.
@mohammedrafi-sk, see the documentation please. And follow that. Particularly:
You can do this in various ways (physically mounting the raw image in the SD card, scp-ing the ROS 2 workspace, etc.).
As pointed out above, depending on how you create your SD card raw image the cross-compiled workspace might (or might not) be copied for you but regardless, you can just drop it yourself in embedded. It's a simple ROS 2 overlay workspace. Source it and make use of its content.
Okay, After copying the content with scp , I am able to run the publisher. Thanks