I.MX8M plus AI Robot platform

[刘国华]

@xiaodong_zhang 

Hi Xiaodong 

This is KingLiu , we have already got one AI Robot EVK ,and compiled the Yocto BSP 5.4.70.2.30 source code successully . Right now I decide to use the command "bitbake imx-robot-sdk -c populate_sdk "  to generate the development SDK to our customer , but I encounter some issue . Please chech the attachment for the detail information about the log file . Please help to give some suggestion. Many thanks  

[khang_letruong]

Dear @xiaodong_zhang,

From your sharing about iMX Robot Platform, I got following error with BSP 5.10.72-2.2.0 :

$ DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r kinetic -b imx8mpevk-robot-kinetic

$ bitbake imx-robot-agv

ERROR: Multiple versions of flatbuffers are due to be built (/workdir/imx-yocto-bsp-5_10_72-2_2_0-robotics/sources/meta-robot-platform/imx/meta-ros/meta-ros1-kinetic/generated-recipes/flatbuffers/flatbuffers_1.1.0.bb /workdir/imx-yocto-bsp-5_10_72-2_2_0-robotics/sources/meta-openembedded/meta-oe/recipes-devtools/flatbuffers/flatbuffers_1.12.0.bb). Only one version of a given PN should be built in any given build. You likely need to set PREFERRED_VERSION_flatbuffers to select the correct version or don't depend on multiple versions.

Meanwhile it bitbakes well for BSP 5.10.52-2.1.0.

Regards,

Khang

[khang_letruong]

Hi again @xiaodong_zhang ,

Adding

PREFERRED_VERSION_flatbuffers= "1.12.0"

into sources/meta-robot-platform/imx/meta-ros/meta-ros1-kinetic/conf/ros-distro/include/kinetic/ros-distro-preferred-versions.inc seems to resolve the issue.

Regards,

K.

[swenryan]

Hi, I am trying to clone this repo https://gitee.com/zxd2021-imx/meta-robot-platform as is mentioned in https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%B9%B... to create a robotics image for imx8m, but i am no longer able to access it. Has the repo been removed?

thanks

[xiaodong_zhang]

Please try it again. I set the repo as private a couple weeks ago.

[Anonymous]

How can I make use of this device? Is there a board I can use right away?

[刘国华]

U can purchase the AI Robot EVK from NXP sales man

[smarter]

@xiaodong_zhang 

Hi Xiaodong,

How can I use ROS version foxy in this package?

[xiaodong_zhang]

@smarter 

Sure, and please use the below setup command:

DISTRO=imx-robot-xwayland MACHINE=imx8mp-ddr4-ipc source setup-imx-robot.sh -r foxy -b imx8mp-ddr4-ipc-robot-foxy

[smarter]

Sure，it work and  compile sdk too.

but use sdk compile ros app ,there are other problems.log like this:

By not providing "Findament_cmake_libraries.cmake" in CMAKE_MODULE_PATH
this project has asked CMake to find a package configuration file provided
by "ament_cmake_libraries", but CMake did not find one.

Could not find a package configuration file provided by
"ament_cmake_libraries" with any of the following names:

ament_cmake_librariesConfig.cmake
ament_cmake_libraries-config.cmake

Add the installation prefix of "ament_cmake_libraries" to CMAKE_PREFIX_PATH
or set "ament_cmake_libraries_DIR" to a directory containing one of the
above files. If "ament_cmake_libraries" provides a separate development
package or SDK, be sure it has been installed.

can you give me some hint? thank you.

[xiaodong_zhang]

@smarter 

   Can you tell me your company name?

[smarter]

上海寰果信息科技有限公司

[xiaodong_zhang]

@smarter 

I mentioned in https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%B9%B...

imx-robot-sdk image is just for building ROS package on i.MX board, not  for cross-compile. You can try "bitbake imx-robot-system -c populate_sdk" to create cross-compile sdk without gmssl-bin.

If you want to build new ROS2 application, you need refer to recipe file in Yocto, for example laser-geometry_2.2.0-3.bb.Or burn imx-robot-sdk image into i.MX board and install colcon relative packages. And follow the below guide to build ROS2 package.

https://docs.ros.org/en/foxy/Tutorials/Creating-Your-First-ROS2-Package.html

[xiaodong_zhang · Accepted solution]

Hi @刘国华 

    Which ROS version, kinetic or melodic, you choose? I think it's known issue which python2 conflict with python3. Please add python3-nose%.bbappend in sources/meta-robot-platform/imx/meta-robot/recipes-devtools/python, it's context as the following:

do_install_append () {
rm -f ${D}${bindir}/nosetests
}

BTW, imx-robot-sdk image is not created for cross-compile in x86 server, but for building ROS component on i.MX8M board. You can try "bitbake imx-robot-system -c populate_sdk" without gmssl-bin to create sdk used in x86 server.

diff --git a/imx/meta-robot/recipes-core/images/imx-robot-system.bb b/imx/meta-robot/recipes-core/images/imx-robot-system.bb
index 1991ab10..68f9ad31
--- a/imx/meta-robot/recipes-core/images/imx-robot-system.bb
+++ b/imx/meta-robot/recipes-core/images/imx-robot-system.bb
@@ -35,7 +35,7 @@ CORE_IMAGE_EXTRA_INSTALL += " \
${@bb.utils.contains('DISTRO_FEATURES', 'x11 wayland', 'weston-xwayland xterm', '', d)} \
${ISP_PKGS} \
"
-IMAGE_INSTALL += " clblast openblas libeigen opencv gmssl-bin"
+IMAGE_INSTALL += " clblast openblas libeigen opencv"

IMAGE_INSTALL += " \
${ML_PKGS} \

[刘国华]

@xiaodong_zhang 

Hi Xiaodong

Thanks for your suggestion, following your comment , I have fixed the issue .  I choice the ROS melodic verison with this command  

DISTRO=imx-robot-wayland MACHINE=imx8mp-ddr4-ipc source setup-imx-robot.sh -r melodic -b imx8mp-ddr4-ipc-robot-melodic