ODROID-M1: custom: Add ros2 weston image

Signed-off-by: steve.jeong <jkhpro1003@gmail.com>
Change-Id: Idd291df2996bfba933d6f0900a605b941cc54440

custom/ros2/config

@@ -0,0 +1,7 @@
+BOARD=odroidm1
+ARCH=arm64
+DISTRO=focal
+FLAVOUR=weston
+DEFAULT_USER=odroid
+DEFAULT_PASSWD=odroid
+ALLOW_ROOT_LOGIN=false

custom/ros2/fixups/S11-ros2-locale

@@ -0,0 +1,5 @@
+#!/bin/sh
+
+locale-gen en_US en_US.UTF-8
+update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+export LANG=en_US.UTF-8

custom/ros2/fixups/S15-add-repository

@@ -0,0 +1,16 @@
+#!/bin/sh
+
+repo=ppa:deadsnakes/ppa
+
+if [ -z $(which add-apt-repository) ]; then
+apt update -y
+apt install @@DEFAULT_APT_OPTIONS@@ \
+		software-properties-common
+fi
+
+add-apt-repository ${repo} -y
+apt install -y curl gnupg2 lsb-release
+curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu @@DEFAULT_DISTRO@@ main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+cat /etc/apt/sources.list.d/ros2.list
+apt update -y && apt upgrade -y

custom/ros2/fixups/S85-config

@@ -0,0 +1,5 @@
+#!/bin/sh
+
+if [ -f /boot/config.ini ]; then
+	sed -i '/generic/,/overlays/ s/^overlays=.*$/overlays=\"rknpu ov5647\"/' /boot/config.ini
+fi

custom/ros2/fixups/S90-librknn

@@ -0,0 +1,14 @@
+#!/bin/sh
+
+HOME=/home/odroid
+RKNN=/home/odroid/rknpu2/runtime/Linux/librknn_api/aarch64/librknnrt.so
+
+echo "========== git clone start =========="
+git clone https://github.com/hardkernel/rknpu2 ${HOME}/rknpu2
+echo "========== git clone finish =========="
+
+echo "========== examples seting start =========="
+chown -R odroid:odroid ${HOME}/rknpu2/
+[ -f ${RKNN} ] && cp ${RKNN} /usr/lib/librknnrt.so
+rm -rf ${HOME}/rknpu2
+echo "========== examples seting finish =========="

custom/ros2/fixups/S91-ros-config

@@ -0,0 +1,58 @@
+#!/bin/sh
+
+HOME=/home/odroid
+
+echo "===== git clone npu_camera ros pkg ====="
+git clone https://github.com/hardkernel/npu_camera ${HOME}/robot_ws
+chown -R odroid:odroid ${HOME}/robot_ws
+
+cat<<__EOF >> ${HOME}/.bashrc
+
+# ROS setting
+source /opt/ros/foxy/setup.bash
+source ~/robot_ws/install/local_setup.bash
+
+source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
+source /usr/share/colcon_cd/function/colcon_cd.sh
+export _colcon_cd_root=~/robot_ws
+
+export ROS_DOMAIN_ID=7
+export ROS_NAMESPACE=robot1
+
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+# export RMW_IMPLEMENTATION=rmw_connext_cpp
+# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+# export RMW_IMPLEMENTATION=rmw_gurumdds_cpp
+
+# export RCUTILS_CONSOLE_OUTPUT_FORMAT='[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})'
+export RCUTILS_CONSOLE_OUTPUT_FORMAT='[{severity}]: {message}'
+export RCUTILS_COLORIZED_OUTPUT=1
+export RCUTILS_LOGGING_USE_STDOUT=0
+export RCUTILS_LOGGING_BUFFERED_STREAM=1
+
+alias cw='cd ~/robot_ws'
+alias cs='cd ~/robot_ws/src'
+alias ccd='colcon_cd'
+
+alias cb='cd ~/robot_ws && colcon build --symlink-install'
+alias cbs='colcon build --symlink-install'
+alias cbp='colcon build --symlink-install --packages-select'
+alias cbu='colcon build --symlink-install --packages-up-to'
+alias ct='colcon test'
+alias ctp='colcon test --packages-select'
+alias ctr='colcon test-result'
+
+alias rt='ros2 topic list'
+alias re='ros2 topic echo'
+alias rn='ros2 node list'
+
+alias killgazebo='killall -9 gazebo & killall -9 gzserver  & killall -9 gzclient'
+
+alias af='ament_flake8'
+alias ac='ament_cpplint'
+
+alias testpub='ros2 run demo_nodes_cpp talker'
+alias testsub='ros2 run demo_nodes_cpp listener'
+alias testpubimg='ros2 run image_tools cam2image'
+alias testsubimg='ros2 run image_tools showimage'
+__EOF

custom/ros2/overlay/etc/modules

@@ -0,0 +1,7 @@
+# /etc/modules: kernel modules to load at boot time.
+#
+# This file contains the names of kernel modules that should be loaded
+# at boot time, one per line. Lines beginning with "#" are ignored.
+
+rknpu
+video_rkisp

custom/ros2/overlay/etc/udev/rules.d/99-odroid-rga.rules

@@ -0,0 +1,2 @@
+# /dev/rga
+SUBSYSTEM=="misc", ENV{DEVNAME}=="/dev/rga", GROUP="odroid", MODE="0660"

custom/ros2/overlay/etc/udev/rules.d/99-odroid-video.rules

@@ -0,0 +1,2 @@
+# /dev/video*
+SUBSYSTEM=="video4linux", ENV{DEVNAME}=="/dev/video*", MODE="0660"

custom/ros2/packages

@@ -0,0 +1,12 @@
+cmake
+g++
+git
+gstreamer1.0-plugins-good
+libopencv-dev
+librga-dev
+make
+python3-colcon-common-extensions
+python3-pip
+rkaiq
+ros-foxy-ros-base
+virtualenv