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PROCESSOR-SDK-AM57X: How to integrate ROS2 into TI Linux RT SDK for AM57x.

Part Number: PROCESSOR-SDK-AM57X

Tool/software:

Hi.
How do I build a ROS2(iron) environment for the SDK for Linux-RT processor for AM57x?

・The base PROCESSOR-SDK-LINUX-RT-AM57X is 09.02.00.311.
・The ROS distribution I want to embed is iron.
・What we want to do is to run ros2 commands on the evaluation board (ros2 run, ros2 run, ros2 run, ros2 run).
・SDK build will be done on Ubuntu 22.04 on VirtualBox installed on Windows 10.

Since the evaluation board cannot connect to the Internet, ros installation cannot be performed on the evaluation board.
We would like to run the ros installation at the time of the SDK build.

Performed build procedure
1. get meta-ros by git clone
Add layers on command line (bitbake-layers create-layer, bitbake-layers add-layer)
3. copy meta-ros to SDK directory
4. execute build
Command line: MACHINE=am57xx-evm bitbake tisdk-base-image
Add meta-ros directory to bblayers.conf
/home/vboxuser/tisdk/sources/meta-ros/meta-ros-common \
/home/vboxuser/tisdk/sources/meta-ros/meta-ros2 \

How to check
1. after the build is completed, copy the build image to SD card, and set the SD card to the evaluation board.
2. after booting, login as root.
3. try to execute ros2 command, it fails.

Checking the log at the start of the build, it seems that meta-ros is being built.
After the build, I try executing the following command, rosdep is built in, but roscore etc. are not built in.
Command line: MACHINE=am57xx-evm bitbake -s | grep ros

When bitbake -s is executed with ROS built into Yocto, ros-core, ros2run, ros2launch, ros2topic, etc. are built in.
How do I build and install ROS to the SDK?

Below is the log at the start of the build.
Build Configuration:
BB_VERSION = "2.0.0"
BUILD_SYS = "x86_64-linux"
NATIVELSBSTRING = "ubuntu-22.04"
TARGET_SYS = "arm-oe-linux-gnueabi"
MACHINE = "am57xx-evm"
DISTRO = "arago"
DISTRO_VERSION = "2023.10"
TUNE_FEATURES = "arm armv7a vfp thumb neon callconvention-hard"
TARGET_FPU = "hard"
DISTRO_NAME = "Arago"
ROS_DISTRO = "None"
meta-arago-distro
meta-arago-extras
meta-arago-demos
meta-arago-test = "HEAD:98f178314931635c8641d1394dfd4341b86b6be2"
meta-qt5 = "HEAD:fe0bf7f0e5408aac6cc89ff3b19b1b1941df4f64"
meta-virtualization = "HEAD:cb2bc17e96552cdfc141d27bd9f4dbd95a872846"
meta-networking
meta-python
meta-oe
meta-gnome
meta-filesystems = "HEAD:fda737ec0cc1d2a5217548a560074a8e4d5ec580"
meta-ti-extras
meta-ti-bsp = "HEAD:376a2143533c6497b4e79304eccca2a630784436"
meta-arm
meta-arm-toolchain = "HEAD:b187fb9232ca0a6b5f8f90b4715958546fc41d73"
meta-clang = "HEAD:c2e89dc7e1dfcc1bbe432afca2dc43d6560cb007"
meta = "HEAD:2501534c9581c6c3439f525d630be11554a57d24"
meta-tisdk = "HEAD:cb4bfc1b9082d3f5215ffdfd437c9133771e61dc"
meta-ros-common
meta-ros2 = "kirkstone:9a857afebc18e0f426d87226bd085727ea9ce4ae"

Thank you.

Yukinobu.