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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Member
There was a problem hiding this comment. I prefer not to merge this PR until the Android instructions are complete, some of the users that use ros2-java use it only because of the Android support.
Contributor
There was a problem hiding this comment. I'd argue that this isn't making things worse for Android, it just isn't improving it either. So I'd still say we should merge this one (just so it doesn't linger), and then when somebody gets around to updating Android it would go on top of this.
Member
There was a problem hiding this comment.
It definitely makes things worse for Android users, because they won't have a path for building
The goal of
Contributor
There was a problem hiding this comment.
I guess my main point is that this PR targets the
Contributor
Author
There was a problem hiding this comment. I guess this raises a separate question about organization. I'd been working under the idea that we would maintain separate branches for each ROS distribution (like many other ROS packages). If users want to build on top of Bouncy, then they can refer to the To make it more clear for users, we could add a note near the top of the README referring them to the correct branch (with instructions) for their target distribution.
Contributor
Author
There was a problem hiding this comment. It's true that for our use-cases we don't have as strong an interest in Android, but I do think we should still support it. Before opening this PR I did try to compile rcljava for Android to update the instructions and add CI, but haven't had any success yet. I'm not sure what needs to change in the documentation (or code) to make the instructions work. Unfortunately, since it's not a priority it's difficult for me to spend more time on it at the moment (hence the TODO). We can wait to merge this until we figure it out, but I thought it would be nicer to get the current changes in as an incremental improvement. Regarding branches for each distro, I guess it's a matter of opinion. I think it makes maintenance and development a lot easier. Unless we only want to support the latest distro, we're bound to make changes to the default branch that breaks compatibility with older distros. If we want to maintain compatibility on a single branch, then we have to do things like "ifdef" around code blocks, which seems less pleasant (IMO) than maintaining distro-specific branches. I've tried to structure code changes such that
Contributor
There was a problem hiding this comment.
Sure. That only makes sense; every contributor has their own agenda for contributing to the project.
We are just setting the goals for the things that we are interested in. As you can probably tell, we aren't much interested in Android. I think the disconnect we currently have is that there are 2 main branches of development:
Jacob and I are mostly interested in the latter; you are mostly interested in the former. It's not that we don't care at all about the Android goal of the project, but it isn't clear to me how to keep that support working. Since it isn't our main target, its hard to justify spending a lot of time setting it up. There are several ways to rectify the disconnect:
There may be others.
Member
There was a problem hiding this comment.
OSRF can not set the goals for the project, basically because they are not the owners of
I don't think it's that much time. I'm more than happy to help you if you have problems with setting it up
Maintaining multiple branches requires a lot of effort, which in this case is completely unnecessary because there's nothing in the code that prevents both platforms from being supported. My goal is to only have one branch, it's much simpler that way
The Android code is isolated in other layers in ROS 2, there's nothing in
Whoa, the nuclear option just because you don't want to update a README. Frankly, not a big fan of this level of confrontation
When contributing to a project you are not even a committer, it's good etiquette to try to cooperate at least, at least from my experience
Contributor
Author
There was a problem hiding this comment. I've pushed changes to the instructions that I've tried so far and opened a PR targeting this branch #125 I can continue to chip away at it in some free time, but any insights would be greatly appreciated 🙂
Contributor
Author
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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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