Update Android instructions #125

jacobperron · 2020-07-29T19:31:40Z

This is a work in progress; still troubleshooting build issues.

Changes made so far:

Switch to colcon instead of ament build
Change ANDROID_STL value to c++_shared (as gnustl_shared is no longer supported)
Updated the repos file to reflect what is in Dashing, minus the Qt packages (c9498cd)

I've left commented out additional build options that I'm not sure how to port to the new colcon command.

Following the steps in in this PR, I get the following build error with ament_cmake_libraries:

--- stderr: ament_cmake_libraries
CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findament_cmake_core.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "ament_cmake_core", but CMake did not find one.

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

    ament_cmake_coreConfig.cmake
    ament_cmake_core-config.cmake

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


---

I'm not sure what's going wrong.

README.md

esteve · 2020-07-30T08:13:46Z

@jacobperron this is awesome, thanks! I'll add my progress here as well and hopefully we can update the CI shortly.

One comment, though. The android repos file should be kept as minimal as possible, some of the packages may not work (e.g. I haven't tested rosbag2, and last time I tried compiling rclcpp it didn't work). The current repos file in master only has what's needed up to rcljava, because what most Android developers would use is the Java layer, not C++.

Thanks again!

esteve · 2020-07-30T08:15:54Z

README.md

+          -DCOMPILE_EXAMPLES=OFF
+
+          # TODO: These options may still need to be adapted
+          # -DCMAKE_FIND_ROOT_PATH="$AMENT_WORKSPACE/install_isolated;$ROS2_ANDROID_WORKSPACE/install_isolated" \


I think this is what is causing CMake not to be able to find the ament packages, I'll compile this PR with this enabled and hopefully it should work.

jacobperron · 2020-07-30T18:52:22Z

The android repos file should be kept as minimal as possible, some of the packages may not work (e.g. I haven't tested rosbag2, and last time I tried compiling rclcpp it didn't work).

+1 I wasn't sure what packages are desired. Feel free to reduce scope for packages that don't make sense.

.github/workflows/build_and_test.yml

esteve · 2020-08-24T10:12:35Z

@jacobperron one of the tests fails for desktop (rcljava_tests_org.ros2.rcljava.node.NodeTest) on the CI, does it pass for you locally? There's an issue building the examples for Android caused by Gradle, I'll look into that and once all this is fixed we can merge these changes into dashing and then into master (finally!)

jacobperron · 2020-08-24T20:47:50Z

@esteve looks like NodeTest is flaky (it's passing on the latest CI run).
I'll try to reproduce the failure locally and report back.

jacobperron · 2020-08-24T21:31:56Z

I wasn't able to reproduce the NodeTest failure. Not sure where it is going wrong.

esteve · 2020-09-18T11:14:21Z

@jacobperron I've updated the instructions with the steps for Android. The Gradle plugin is not working currently with colcon, so I'm only building up to rcljava.

jacobperron · 2020-09-19T00:59:29Z

I've updated the instructions with the steps for Android. The Gradle plugin is not working currently with colcon, so I'm only building up to rcljava.

Awesome, thanks! Do you want to open a ticket for the issue with Gradle plugin or wait until we fix it as part of this PR?

I've pushed few more changes to make CI more portable.

esteve · 2020-09-30T15:27:59Z

@jacobperron I missed your last comment, sorry. I've created #137 I'll update the description later when I have a better idea of why it's failing, but I think it's best to move on and merge this when a big note that warns users that the Gradle plugin does not work.

This is a work in progress, still troubleshooting build issues. Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Now the repos file contains all packages in the upstream dashing repos file, without the Qt packages: https://github.com/ros2/ros2/blob/dashing/ros2.repos Signed-off-by: Jacob Perron <jacob@openrobotics.org>

…ot available on Android

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Use curl for consistency Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Update build badges Currently, we only have CI for Dashing on Linux. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Update URLs Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Minor formatting changes Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Update build instructions for desktop Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Use different header markdown syntax For more granularity in header levels. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix whitespace formatting Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Formatting Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add ref to ticket for ROS time Signed-off-by: Jacob Perron <jacob@openrobotics.org> * 'merge install' for Windows Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix typo Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Update Android instructions with CI (#125) * Update Android instructions This is a work in progress, still troubleshooting build issues. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Update Android repos file Now the repos file contains all packages in the upstream dashing repos file, without the Qt packages: https://github.com/ros2/ros2/blob/dashing/ros2.repos Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Added job for Android * Only build the rcljava subset of dependencies * Fix URL * Replace ros-tooling scripts with plain commands * Fix typo * Install vcstool for vcs * Install Android NDK * Add ros2_java workspace to CMake find root path * Disable building tests * Do not build osrf_testing_tools_cpp as it uses execinfo.h, which is not available on Android * Workaround for Android * Reenable building tests * Skip cyclonedds for now * Install lark parser * Install python3-dev * Pass PYTHON_LIBRARY and PYTHON_INCLUDE_DIR to the CMake Python module * Skip rcl_logging_log4cxx * Use rmw fork for Android. Skip CycloneDDS packages * Revert to 1.6 * Configure log4j dynamically to avoid errors when building for Android * Configure log4j dynamically to avoid errors when building for Android * Switch to jacob/instructions temporarily * Fix compilation error * Trim repos file for Android * Readd googletest repo * Fix missing import * Build entire workspace * Only build up to the Android examples * Install colcon extensions for Gradle * Revert changes for desktop * Move ros2_android repo to ros2-java org * Install Gradle * Build rcljava_examples * Install Gradle * Do not build rcljava_examples temporarily * Update README.md * Do not use fork * Use repos files from GitHub workspace Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add checkout action for cloning the branch to test Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Use version of ros2_java in the branch being tested Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Switch back to dashing branch Signed-off-by: Jacob Perron <jacob@openrobotics.org> Co-authored-by: Esteve Fernandez <esteve@apache.org> Co-authored-by: Esteve Fernandez <esteve@apache.org>

jacobperron mentioned this pull request Jul 29, 2020

Update README #119

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jacobperron commented Jul 29, 2020

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jacobperron mentioned this pull request Aug 5, 2020

how to replace ament with colcon command? #126

Closed

esteve mentioned this pull request Aug 24, 2020

Sync with work done in fork #128

Open

jacobperron force-pushed the jacob/update_readme branch from 193bd7d to 5e2b12c Compare October 7, 2020 22:03

jacobperron and others added 15 commits October 7, 2020 15:03

Update Android instructions

e1c45fe

This is a work in progress, still troubleshooting build issues. Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Update Android repos file

5be9e3d

Now the repos file contains all packages in the upstream dashing repos file, without the Qt packages: https://github.com/ros2/ros2/blob/dashing/ros2.repos Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Added job for Android

35f2ed2

Only build the rcljava subset of dependencies

1755930

Fix URL

48566ff

Replace ros-tooling scripts with plain commands

a539df7

Fix typo

50d5043

Install vcstool for vcs

cb064e7

Install Android NDK

32254fc

Add ros2_java workspace to CMake find root path

9687f4f

Disable building tests

e0ba560

Do not build osrf_testing_tools_cpp as it uses execinfo.h, which is n…

291a4b7

…ot available on Android

Workaround for Android

821126d

Reenable building tests

39df81c

Skip cyclonedds for now

6588c51

esteve and others added 24 commits October 7, 2020 15:03

Use rmw fork for Android. Skip CycloneDDS packages

5e69e65

Revert to 1.6

1bbe59e

Configure log4j dynamically to avoid errors when building for Android

1423330

Configure log4j dynamically to avoid errors when building for Android

ad3be98

Switch to jacob/instructions temporarily

b81c008

Fix compilation error

ad7388f

Trim repos file for Android

87103f3

Readd googletest repo

57e6037

Fix missing import

f2970d7

Build entire workspace

419c23c

Only build up to the Android examples

6fb45b8

Install colcon extensions for Gradle

921c6a2

Revert changes for desktop

6befaf1

Move ros2_android repo to ros2-java org

fb1b67e

Install Gradle

2a06d80

Build rcljava_examples

9a011be

Install Gradle

a972529

Do not build rcljava_examples temporarily

4b0aeb2

Update README.md

02c9551

Do not use fork

dfb5ed0

Use repos files from GitHub workspace

c3f852a

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Add checkout action for cloning the branch to test

0c02ab0

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Use version of ros2_java in the branch being tested

6a7a536

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Switch back to dashing branch

0a231ea

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

jacobperron force-pushed the jacob/android_instructions branch from be6fe3e to 0a231ea Compare October 7, 2020 22:03

jacobperron mentioned this pull request Oct 8, 2020

Which version should run? #136

Closed

jacobperron merged commit a3fa46d into jacob/update_readme Oct 8, 2020

jacobperron deleted the jacob/android_instructions branch October 8, 2020 22:51

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Update Android instructions #125

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