Update README #119
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| # ROS 2 Java client library | ||
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| ### Build status | ||
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| | Target | Status | | ||
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| | **ROS Dashing - Ubuntu Bionic (OpenJDK)** |  | | ||
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| ## Introduction | ||
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| This is a set of projects (bindings, code generator, examples and more) that enables developers to write ROS 2 | ||
| applications for the JVM and Android. | ||
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| Besides this repository itself, there's also: | ||
| - https://github.com/ros2-java/ament_java, which adds support for Gradle to Ament | ||
| - https://github.com/ros2-java/ament_gradle_plugin, a Gradle plugin that makes it easier to use ROS 2 in Java and Android project. The Gradle plugin can be installed from Gradle Central https://plugins.gradle.org/plugin/org.ros2.tools.gradle | ||
| - https://github.com/ros2-java/ros2_java_examples, examples for the Java Runtime Environment | ||
| - https://github.com/ros2-java/ros2_android_examples, examples for Android | ||
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| ### Is this Java only? | ||
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| No, any language that targets the JVM can be used to write ROS 2 applications. | ||
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| ### Including Android? | ||
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| Yep! Make sure to use Fast-RTPS as your DDS vendor and at least [this revision](https://github.com/eProsima/Fast-RTPS/commit/5301ef203d45528a083821c3ba582164d782360b). | ||
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| ### Features | ||
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| The current set of features include: | ||
| - Generation of all builtin and complex ROS types, including arrays, strings, nested types, constants, etc. | ||
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@@ -41,76 +34,80 @@ The current set of features include: | |
| - Clients and services | ||
| - Timers | ||
| - Composition (i.e. more than one node per process) | ||
| - Time handling (system and steady, ROS time not yet supported https://github.com/ros2-java/ros2_java/issues/122) | ||
| - Support for Android | ||
| - Parameters services and clients (both asynchronous and synchronous) | ||
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| ## Sounds great, how can I try this out? | ||
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| ### Install dependencies | ||
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| > Note: While the following instructions use a Linux shell the same can be done on other platforms like Windows with slightly adjusted commands. | ||
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| 1. [Install ROS 2](https://index.ros.org/doc/ros2/Installation). | ||
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| 1. Install Java and a JDK. | ||
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| On Ubuntu, you can install OpenJDK with: | ||
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| sudo apt install default-jdk | ||
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| 1. Install Gradle. | ||
| Make sure you have Gradle 3.2 (or later) installed. | ||
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| *Ubuntu Bionic or later* | ||
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| sudo apt install gradle | ||
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| *macOS* | ||
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| brew install gradle | ||
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| Note: if run into compatibily issues between gradle 3.x and Java 9, try using Java 8, | ||
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| brew tap caskroom/versions | ||
| brew cask install java8 | ||
| export JAVA_HOME=/Library/Java/JavaVirtualMachines/1.8.0.jdk/Contents/Home | ||
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| *Windows* | ||
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| choco install gradle | ||
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| 1. Install build tools: | ||
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| sudo apt install curl python3-colcon-common-extensions python3-pip python3-vcstool | ||
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| 1. Install Gradle extensions for colcon: | ||
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| python3 -m pip install -U git+https://github.com/colcon/colcon-gradle | ||
| python3 -m pip install --no-deps -U git+https://github.com/colcon/colcon-ros-gradle | ||
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| ### Download and Build ROS 2 Java for Desktop | ||
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| 1. Source your ROS 2 installation, for example: | ||
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| source /opt/ros/dashing/setup.bash | ||
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| 1. Download the ROS 2 Java repositories into a workspace: | ||
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| mkdir -p ros2_java_ws/src | ||
| cd ros2_java_ws | ||
| curl -skL https://raw.githubusercontent.com/ros2-java/ros2_java/dashing/ros2_java_desktop.repos | vcs import src | ||
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| 1. **Linux only** Install ROS dependencies: | ||
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| rosdep install --from-paths src -y -i --skip-keys "ament_tools" | ||
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| 1. Build desktop packages: | ||
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| colcon build --symlink-install | ||
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| *Note, on Windows we have to use `--merge-install`* | ||
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| colcon build --merge-install | ||
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| ### Download and Build ROS 2 Java for Android | ||
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| The Android setup is slightly more complex, you'll need the SDK and NDK installed, and an Android device where you can run the examples. | ||
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@@ -122,48 +119,43 @@ We'll also need to have the [Android SDK](https://developer.android.com/studio/# | |
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| Although the `ros2_java_android.repos` file contains all the repositories for the Android bindings to compile, we'll have to disable certain packages (`python_cmake_module`, `rosidl_generator_py`, `test_msgs`) that are included the repositories and that we either don't need or can't cross-compile properly (e.g. the Python generator) | ||
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| 1. Download the [Android NDK](https://developer.android.com/ndk/downloads/index.html) and set the environment variable `ANDROID_NDK` to the path where it is extracted. | ||
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| 1. Download the [Android SDK](https://developer.android.com/studio/#downloads) and set the environment variable `ANDROID_HOME` to the path where it is extracted. | ||
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| 1. Clone ROS 2 and ROS 2 Java source code: | ||
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| mkdir -p $HOME/ros2_android_ws/src | ||
| cd $HOME/ros2_android_ws | ||
| curl https://raw.githubusercontent.com/ros2-java/ros2_java/dashing/ros2_java_android.repos | vcs import src | ||
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| 1. Set Android build configuration: | ||
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| export PYTHON3_EXEC="$( which python3 )" | ||
| export PYTHON3_LIBRARY="$( ${PYTHON3_EXEC} -c 'import os.path; from distutils import sysconfig; print(os.path.realpath(os.path.join(sysconfig.get_config_var("LIBPL"), sysconfig.get_config_var("LDLIBRARY"))))' )" | ||
| export PYTHON3_INCLUDE_DIR="$( ${PYTHON3_EXEC} -c 'from distutils import sysconfig; print(sysconfig.get_config_var("INCLUDEPY"))' )" | ||
| export ANDROID_ABI=armeabi-v7a | ||
| export ANDROID_NATIVE_API_LEVEL=android-21 | ||
| export ANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-clang | ||
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| 1. Build (skipping packages that we don't need or can't cross-compile): | ||
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| colcon build \ | ||
| --packages-ignore cyclonedds rcl_logging_log4cxx rosidl_generator_py \ | ||
| --packages-up-to rcljava \ | ||
| --cmake-args \ | ||
| -DPYTHON_EXECUTABLE=${PYTHON3_EXEC} \ | ||
| -DPYTHON_LIBRARY=${PYTHON3_LIBRARY} \ | ||
| -DPYTHON_INCLUDE_DIR=${PYTHON3_INCLUDE_DIR} \ | ||
| -DCMAKE_TOOLCHAIN_FILE=${ANDROID_NDK}/build/cmake/android.toolchain.cmake \ | ||
| -DANDROID_FUNCTION_LEVEL_LINKING=OFF \ | ||
| -DANDROID_NATIVE_API_LEVEL=${ANDROID_NATIVE_API_LEVEL} \ | ||
| -DANDROID_TOOLCHAIN_NAME=${ANDROID_TOOLCHAIN_NAME} \ | ||
| -DANDROID_STL=c++_shared \ | ||
| -DANDROID_ABI=${ANDROID_ABI} \ | ||
| -DANDROID_NDK=${ANDROID_NDK} \ | ||
| -DTHIRDPARTY=ON \ | ||
| -DCOMPILE_EXAMPLES=OFF \ | ||
| -DCMAKE_FIND_ROOT_PATH="${PWD}/install" | ||
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| You can find more information about the Android examples at https://github.com/ros2-java/ros2_android_examples | ||
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