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5.1.3 Source Code Installation

This section introduces how to install TogetheROS.Bot from source code on RDK platforms.

RDK Platform​

Prerequisites:

  • Development machine can access the D-Robotics organization normally
  • Docker is installed on the 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
## Get cross-compilation docker
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 
## View image ID for pc_tros
sudo docker images
## Start docker with mounted directory
sudo docker run -it --entrypoint="/bin/bash" -v PC local directory:docker directory imageID, for example sudo docker run -it --entrypoint="/bin/bash" -v /mnt/data/kairui.wang/test:/mnt/test 9c2ca340973e
## Create directory
cd  /mnt/data/kairui.wang/test
mkdir -p cc_ws/tros_ws/src
## Get cross-compilation docker
wget http://archive.d-robotics.cc/TogetheROS/cross_compile_docker/pc_tros_ubuntu22.04_v1.0.0.tar.gz
## Load docker image
sudo docker load --input pc_tros_ubuntu22.04_v1.0.0.tar.gz 
## View image ID for pc_tros
sudo docker images
## Start docker with mounted directory
sudo docker run -it --entrypoint="/bin/bash" -v PC local directory:docker directory imageID, for example sudo docker run -it --entrypoint="/bin/bash" -v /mnt/data/kairui.wang/test:/mnt/test 4cbdb9d61e19
## Create directory
cd  /mnt/data/kairui.wang/test
mkdir -p cc_ws/tros_ws/src
## Get cross-compilation docker
wget http://archive.d-robotics.cc/TogetheROS/cross_compile_docker/pc_tros_ubuntu24.04_v1.0.1.tar.gz
## Load docker image
sudo docker load --input pc_tros_ubuntu24.04_v1.0.1.tar.gz 
## View image ID for pc_tros
sudo docker images
## Start docker with mounted directory
sudo docker run -it --entrypoint="/bin/bash" -v PC local directory:docker directory imageID, for example sudo docker run -it --entrypoint="/bin/bash" -v /mnt/data/kairui.wang/test:/mnt/test 4cbdb9d61e19

2 Get tros.b Source Code​

All operations in this section are performed inside the development machine's docker.

Using the /mnt/test directory in docker as an example.

cd /mnt/test/cc_ws/tros_ws
## Get configuration files
git clone https://github.com/D-Robotics/robot_dev_config.git -b foxy 
## Run cd robot_dev_config, use git tag --list to view available release versions
## Use git reset --hard [tag] to specify release version. See Build Specific tros.b Version section on this page for details
## Pull code
vcs-import src < ./robot_dev_config/ros2_release.repos 
cd /mnt/test/cc_ws/tros_ws
## Get configuration files
git clone https://github.com/D-Robotics/robot_dev_config.git -b develop 
## Run cd robot_dev_config, use git tag --list to view available release versions
## Use git reset --hard [tag] to specify release version. See Build Specific tros.b Version section on this page for details
## Pull code
vcs-import src < ./robot_dev_config/ros2_release.repos 
cd /mnt/test/cc_ws/tros_ws
## Get configuration files
git clone https://github.com/D-Robotics/robot_dev_config.git -b jazzy 
## Run cd robot_dev_config, use git tag --list to view available release versions
## Use git reset --hard [tag] to specify release version. See Build Specific tros.b Version section on this page for details
## Pull code
vcs-import src < ./robot_dev_config/ros2_release.repos

The complete 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 path contains configuration and script files needed for code pulling, building, and packaging; the tros_ws/src path stores the pulled code; the sysroot_docker path contains header files and libraries for cross-compilation dependencies, corresponding to the RDK's / directory. For example, the media library path in sysroot_docker is sysroot_docker/usr/lib/hbmedia/ , and on RDK it is /usr/lib/hbmedia/ .

During compilation, the sysroot_docker installation path is specified via the CMAKE_SYSROOT macro in the robot_dev_config/aarch64_toolchainfile.cmake build script.

info

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

3 Cross Compilation​

All operations in this section are performed inside the development machine's docker.

## Use build.sh to compile X3 version tros.b
bash ./robot_dev_config/build.sh -p X3

## Use build.sh to compile X5 version tros.b
bash ./robot_dev_config/build.sh -p X5

## Use build.sh to compile S100 version tros.b
bash ./robot_dev_config/build.sh -p S100

## Use build.sh to compile S600 version tros.b
bash ./robot_dev_config/build.sh -p S600

After successful compilation, a message will indicate that N packages compiled successfully.

If using minimal_build.sh for minimal compilation, you can further compress the deployment package size by running ./minimal_deploy.sh -d "install_path".

Installing tros.b​

Copy the compiled install directory to RDK and rename it to tros. Here we place the deployment package in /opt/tros to be consistent with the deb installation directory.

Build Specific tros.b Version​

In step 2 Get tros.b Source Code of the Building tros.b section in this chapter, the latest tros.b source code is fetched by default. If you need to get source code for a specific release version, modify this step as follows:

## Get configuration files
git clone https://github.com/D-Robotics/robot_dev_config.git
cd robot_dev_config
## View available release versions
git tag --list
## Switch to specified version number, using tros.b 2.0.0 as an example
git reset --hard tros_2.0.0
cd ..
## Pull code
vcs-import src < ./robot_dev_config/ros2_release.repos
info

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

FAQ​

Q1: How to determine if VCS successfully pulled code

A1: As shown below, a . printed during vcs import indicates successful repo pull. If E is printed, that repo pull failed. You can see the specific failed repo in the log after execution. In this case, try deleting the contents in src and re-running vcs import, or manually pull the failed repo.

Terminal log example showing dots for successful vcs import pulls and E for failed repos

Q2: Unable to pull code from GitHub due to restrictions

A2: You can directly download the required version 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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