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Update snapcraft.yaml and install instructions #58

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Merged
pablogs9 merged 1 commit into from
Mar 31, 2021
Merged

Update snapcraft.yaml and install instructions #58

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26 changes: 23 additions & 3 deletions snap/snapcraft.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,16 @@ description: |

$ snap set micro-ros-agent device="device path"

If connecting the micro-ROS Agent using an IP based connection mode,
that is, `udp4`, `udp6`, `tcp4` or `tcp6`, care must be taken to
connect first the `micro-ros-agent-shm-netplug` plug.
This is due to the fact that ROS 2 Foxy is using Fast-DDS as the
default DDS middleware, and Fast-DDS comes with *shared memory transport*.
Thus, this plugin must be enabled, in order to gain access to the
`/dev/shm` folder from the snap image, prior to running it:

$ sudo snap connect micro-ros-agent:micro-ros-agent-shm-netplug

When using the snap with a serial device, some steps need to be taken
in order to establish a successful connection:

Expand Down Expand Up @@ -116,13 +126,16 @@ parts:
plugin: colcon
source: .
override-build: |
set +u
git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git -b $ROS_DISTRO
git clone https://github.com/eProsima/Micro-CDR.git -b $ROS_DISTRO
git clone https://github.com/micro-ROS/micro_ros_msgs.git -b $ROS_DISTRO
git clone https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git -b $ROS_DISTRO
git clone https://github.com/micro-ROS/rmw-microxrcedds.git -b $ROS_DISTRO
git clone https://github.com/micro-ROS/micro-ROS-Agent.git -b $ROS_DISTRO
. /opt/ros/$ROS_DISTRO/setup.sh
colcon build --merge-install --install-base $SNAPCRAFT_PRIME --cmake-args '-DUAGENT_BUILD_EXECUTABLE=OFF' --packages-up-to micro_ros_agent
colcon build --merge-install --install-base $SNAPCRAFT_PRIME --cmake-args "-DUAGENT_BUILD_EXECUTABLE=OFF -DUAGENT_USE_SYSTEM_FASTDDS=ON" --packages-up-to micro_ros_agent
set -u
build-packages: [make, gcc, g++]
stage-packages: [ros-foxy-ros2launch]

Expand All @@ -132,17 +145,24 @@ parts:
organize:
'*': usr/bin/

plugs:
micro-ros-agent-shm-netplug:
interface: system-files
allow-auto-connection: true
write:
- /dev/shm

apps:
micro-ros-agent:
command: lib/micro_ros_agent/micro_ros_agent
environment:
LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
plugs: [network, network-bind, serial-port]
plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]
extensions: [ros2-foxy]

daemon:
command: usr/bin/micro-ros-agent-daemon
environment:
LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
daemon: simple
plugs: [network, network-bind, serial-port]
plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]