movex 1.0

A command-line tool to deal with Kria's clumsiness.

kria-movex README

Installation

To install the packages, run the following command:

pip install -r requirements.txt

Docker Configuration

When we compile a ROS2 node from our machines, this node will be compiled for the architecture of the pc used (e.g. x86, ...), while we want the node to be compiled for arm64 (or aarch64) to stay consistent with the Kria architecture. IMPORTANT: run the docker image before using movex.

Compose-based procedure (suggested)

1. Download docker image from docker hub:

     docker pull doclorenzo/mmr-cross-compilation:1.0
   

2. Run the docker image:

    SRC_PATH=<mmr-kria-drive-path> docker compose run --rm mmr-cross-compile-container
   

   Set mmr-kria-drive-path to the absolute path of the mmr-kria-drive source code

Manual procedure

If you are not willing to use the compose-based procedure, you can always opt for the manual procedure which involves build and interactive execution of the image.

1. Build container

   docker build -t mmr-cross-compile <dockerfile_folder> --platform=linux/arm64/v8
   

   • dockerfile_folder: path of the folder where it is contained the Dockerfile

2. Run the docker image:

   docker run --platform=linux/arm64/v8 --rm -it --volume=<mmr-kria-drive-path>:/home/mmr-kria-drive <image_name> 
   

   • mmr-kria-drive-path: absolute path of the mmr-kria-drive source code
   • image_name: name of the contaier (e.g. mmr-cross-compile)

ATTENTION: the changes that are made to the container in the /home folder will also be made inside the filesystem that launches the container, so in this case in the mmr-kria-drive folder

Understand Dockerfile

The Dockerfile contains in the first line the starting image, that is ubuntu 22.04 for arm64, and then executes (via “RUN”) all the shell commands needed to install ROS2, which can be found on the official documentation of ROS2 humble, with some differences.

Important choices

• DEBIAN_FRONTEND=noninteractive: When installing the ros-dev-tools package, you are prompted to enter the timezone. This variable allows you to bypass this deadlock
• rosdep install && COPY: Before launching rosdep install, which will install all the dependencies of the libraries used inside our ros nodes, we need to give it the workspace from which to find these dependencies. The COPY brings this workspace inside the image, so we need to put as the first argument of the COPY the folder in which the ros nodes are contained whose dependencies we want to resolve.
• ros-humble-: All ros-humble- packages are the libraries used inside ros2 nodes, specifically in “canbus_bridge” and “canopen_bridge” at the time of writing this documentation.

FROM arm64v8/ubuntu:22.04
RUN apt update && apt install -y locales
RUN locale-gen en_US en_US.UTF-8
RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
RUN export LANG=en_US.UTF-8
RUN apt install -y software-properties-common
RUN add-apt-repository universe
RUN apt update && apt install curl -y
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN 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" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
RUN apt update
RUN apt install -y python3-flake8-docstrings 
RUN apt install -y python3-pip 
RUN apt install -y python3-pytest-cov 
RUN DEBIAN_FRONTEND=noninteractive apt install -y ros-dev-tools
RUN apt install -y ros-humble-ament-cmake
RUN apt install -y ros-humble-rclcpp
RUN apt install -y ros-humble-geometry-msgs
RUN apt install -y ros-humble-std-msgs
RUN apt install -y ros-humble-can-msgs
RUN rosdep init
RUN rosdep update --rosdistro humble
COPY mmr-kria-drive/ /home
RUN rosdep install --from-paths /home/src --rosdistro humble --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
RUN apt install ros-humble-sensor-msgs

Usage

Throubleshooting

If you are here, we both know that something went wrong...don't give up and see if one of your problems (because there will be several of them) have a solution in the following list:

Docker configuration

1. Can't build/run the docker image, giving back this error: exec /bin/bash: exec format error

   Let's give a try on this:

   docker run --privileged --rm tonistiigi/binfmt --install all 
   

   for further information, checks the docker docs

2. Docker engine not found. Make sure to have a running Docker engine!

   Probably the docker engine is not autorizhed to accept commands from your current user, try:

    sudo usermod -aG docker $USER
   

   then reboot your system.