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5.1.3 Source Code Installation

This section describes how to install TogetheROS.Bot from source code on both RDK and X86 platforms.

RDK Platform​

Prerequisites:

  • Your development machine can access the D-Robotics organization normally.
  • Docker is already installed on your development machine.

Building tros.b​

1 Using Docker Image​

All operations in this section are performed on the development machine.

## Create directory
cd /mnt/data/kairui.wang/test
mkdir -p cc_ws/tros_ws/src
## Download Docker image for cross-compilation
wget http://archive.d-robotics.cc/TogetheROS/cross_compile_docker/pc_tros_v1.0.5.tar.gz
## Load Docker image
sudo docker load --input pc_tros_v1.0.5.tar.gz 
## Check the image ID corresponding to pc_tros
sudo docker images
## Start Docker container with mounted directories
sudo docker run -it --entrypoint="/bin/bash" -v LOCAL_PC_DIR:DOCKER_DIR IMAGE_ID  
# Example: sudo docker run -it --entrypoint="/bin/bash" -v /mnt/data/kairui.wang/test:/mnt/test 9c2ca340973e

2 Obtaining tros.b Source Code​

All operations in this section are performed inside the Docker container on the development machine.

Here we use /mnt/test inside the Docker container as an example.

cd /mnt/test/cc_ws/tros_ws
## Clone configuration files
git clone https://github.com/D-Robotics/robot_dev_config.git -b foxy 
## Navigate into robot_dev_config and run 'git tag --list' to view available release versions
## Use 'git reset --hard [TAG]' to specify a particular release version. See the section "Building a Specific Version of tros.b" on this page for details.
## Pull source code
vcs-import src < ./robot_dev_config/ros2_release.repos

The overall project directory structure is as follows:

├── cc_ws
│   ├── sysroot_docker
│   │   ├── etc
│   │   ├── lib -> usr/lib
│   │   ├── opt
│   │   └── usr
│   └── tros_ws
│       ├── robot_dev_config
│       └── src
  • The tros_ws/robot_dev_config directory contains configuration files and scripts required for code fetching, building, and packaging.
  • The tros_ws/src directory stores the fetched source code.
  • The sysroot_docker directory contains headers and libraries required for cross-compilation, mirroring the root (/) directory of the RDK. For example, the media library resides at sysroot_docker/usr/lib/hbmedia/ in the Docker environment, corresponding to /usr/lib/hbmedia/ on the RDK.

During compilation, the build script robot_dev_config/aarch64_toolchainfile.cmake uses the CMAKE_SYSROOT macro to specify the path to sysroot_docker.

info

For the tag (version) of robot_dev_config, please refer to the Release Notes section.

3 Cross-compilation​

All operations in this section are performed inside the Docker container on the development machine.

## Build tros.b for X3 using build.sh
bash ./robot_dev_config/build.sh -p X3

## Build tros.b for RDK Ultra using build.sh
bash ./robot_dev_config/build.sh -p Rdkultra

## Build tros.b for X5 using build.sh
bash ./robot_dev_config/build.sh -p X5

## Build tros.b for S100 using build.sh
bash ./robot_dev_config/build.sh -p S100

Upon successful compilation, you will see a message indicating that N packages have been built successfully.

If you perform a minimal build using minimal_build.sh, you can further reduce the deployment package size by running ./minimal_deploy.sh -d "install_path".

Installing tros.b​

Copy the generated install directory to the RDK and rename it to tros. Here, we place the deployment package under /opt/tros to maintain consistency with the directory used in deb package installations.

Building a Specific Version of tros.b​

By default, step 2 (Obtaining tros.b Source Code) in the Building tros.b section fetches the latest version of tros.b source code. If you need to obtain source code for a specific released version, modify this step as follows:

## Clone configuration files
git clone https://github.com/D-Robotics/robot_dev_config.git
cd robot_dev_config
## List available release versions
git tag --list
## Switch to a specific version; here we use tros.b 2.0.0 as an example
git reset --hard tros_2.0.0
cd ..
## Pull source code
vcs-import src < ./robot_dev_config/ros2_release.repos
info

For the tag (version) of robot_dev_config, please refer to the Release Notes section.

X86 Platform​

System Requirements​

You must use a 64-bit Ubuntu 20.04 system. Alternatively, you may use the RDK cross-compilation Docker image, but both compilation and execution must be performed entirely within the Docker container.

System Configuration​

Setting Locale​

Ensure your locale supports UTF-8:

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

Adding APT Repository​

# First, ensure Ubuntu Universe repository is enabled
sudo apt install software-properties-common
sudo add-apt-repository universe

sudo apt update && sudo apt install curl

# Add the official ROS2 repository
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

# Add the tros.b official repository
sudo curl -sSL http://archive.d-robotics.cc/keys/sunrise.gpg -o /usr/share/keyrings/sunrise.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/sunrise.gpg] http://archive.d-robotics.cc/ubuntu-rdk-sim focal main" | sudo    tee /etc/apt/sources.list.d/sunrise.list > /dev/null

Install ROS Tool Packages​

sudo apt update && sudo apt install -y \
  libbullet-dev \
  python3-pip \
  python3-pytest-cov \
  ros-dev-tools

Obtain tros.b Source Code​

git config --global credential.helper store

mkdir -p ~/cc_ws/tros_ws/src
cd ~/cc_ws/tros_ws/

git clone https://github.com/D-Robotics/robot_dev_config.git -b develop 
vcs-import src < ./robot_dev_config/ros2_release.repos

Install Dependencies​

Install packages required for building from source:

# install some pip packages needed for testing
python3 -m pip install -U \
  argcomplete \
  flake8-blind-except \
  flake8-builtins \
  flake8-class-newline \
  flake8-comprehensions \
  flake8-deprecated \
  flake8-docstrings \
  flake8-import-order \
  flake8-quotes \
  pytest-repeat \
  pytest-rerunfailures \
  pytest

# install Fast-RTPS dependencies
sudo apt install --no-install-recommends -y \
  libasio-dev \
  libtinyxml2-dev

# install Cyclone DDS dependencies
sudo apt install --no-install-recommends -y \
  libcunit1-dev

# install tros.b basic models
sudo apt install --no-install-recommends -y \
  hobot-models-basic

# install other packages dependencies
sudo apt install --no-install-recommends -y \
  qt5-qmake \
  libpyside2-dev \
  libshiboken2-dev \
  pyqt5-dev \
  python3-pyqt5 \
  python3-pyqt5.qtsvg \
  python3-pyside2.qtsvg \
  python3-sip-dev \
  shiboken2 \
  libyaml-dev \
  qtbase5-dev \
  libzstd-dev \
  libeigen3-dev \
  libxml2-utils \
  libtinyxml-dev \
  libssl-dev \
  python3-numpy \
  libconsole-bridge-dev \
  pydocstyle \
  libqt5core5a \
  libqt5gui5 \
  libgtest-dev \
  cppcheck \
  tango-icon-theme \
  libqt5opengl5 \
  libqt5widgets5 \
  python3-lark \
  libspdlog-dev \
  google-mock \
  clang-format \
  python3-flake8 \
  libbenchmark-dev \
  python3-pygraphviz \
  python3-pydot \
  python3-psutil \
  libfreetype6-dev \
  libx11-dev \
  libxaw7-dev \
  libxrandr-dev \
  libgl1-mesa-dev \
  libglu1-mesa-dev \
  python3-pytest-mock \
  python3-mypy \
  default-jdk \
  libcunit1-dev \
  libopencv-dev \
  python3-ifcfg \
  python3-matplotlib \
  graphviz \
  uncrustify \
  python3-lxml \
  libcppunit-dev \
  libcurl4-openssl-dev \
  python3-mock \
  python3-nose \
  libsqlite3-dev \
  pyflakes3 \
  clang-tidy \
  python3-lttng \
  liblog4cxx-dev \
  python3-babeltrace \
  python3-pycodestyle \
  libassimp-dev \
  libboost-dev \
  libboost-python-dev \
  python3-opencv \
  libboost-python1.71.0

Build​

# Build using build.sh
bash ./robot_dev_config/build.sh -p X86

Upon successful compilation, a message indicating that a total of N packages have been built successfully will be displayed.

Install tros.b​

Copy the generated install directory to /opt and rename it to tros, aligning with the directory structure used by deb package installations.

Common Issues​

Q1: How can I verify whether VCS successfully fetched the code?

A1: As shown in the figure below, during the vcs import process, a printed dot (.) indicates successful retrieval of a repository, whereas an E indicates failure. The specific failed repository can be identified from the log output after execution. In such cases, you may either delete the contents under the src directory and re-run vcs import, or manually clone the failed repository.

vcs_import

Q2: What if I cannot pull code from GitHub due to network restrictions?

A2: You can directly download the required version of the source code from the TogetheROS file server. For example, the file tros_2.0.0_source_code.tar.gz corresponds to tros.b version 2.0.0.

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