How best to incorporate Wind River's work?

[herb-kuta-lge]

Wind River has done some work on meta-ros and published it in these repos:

• https://github.com/wind-river/meta-robot
• https://github.com/wind-river/wr-ros-demo

How should it be added to meta-ros?

[tfoote]

That's great to see. It would be great to find a way to integrate any changes or extensions they need to support their use cases into superflore so that it could be in the default meta-ros. It looks like they've been able to go a little deeper but narrower to get the TurtleBot running. I'll reach out to them and see if they have some suggestions.

https://github.com/Wind-River/meta-robot/issues/1

[robwoolley]

I have created a new layer wr-ros whose purpose is to build the meta-ros "zeus" branch on Wind River Linux LTS 19 (based on Yocto Project "zeus" release).

The layer is posted here

Many of the recipes are just overriding the bitbake QA checks to allow files in non-standard locations to Yocto. However, I was able to get rviz2 to successfully compile. The bulk of this effort is to build the PyQt5 tools natively to enable cross-compilation.

I have verified that the rclcpp and rclpy examples run. Next steps include re-integrate the Turtlebot3 drivers and fixing a dynamic loading problem with rviz_ogre_vendor that makes it look for RenderSystemGL.so.1.12.6 in the wrong directory (/usr/opt/rviz_ogre_vendor/lib/OGRE/)

Please let me know how I can best work with the meta-ros team to upstream these changes.