sdk from meta-ros

edit

I've never build a ROS 2 only ROOTFS/toolchain, it was always included in the company internal project. And it is also not really finished or reviewed, so there might be clutter or better solutions to get stuff done. With this it is possible to link against packages within the toolchain, to create an full overlay workspace with several packages depending on each other isn't yet finished (but this might work for you as well, it is just currently incompatible with out company internal crosscompile workflow) Feel free to improve this.

The following description is taken from my git history, so this might not be the optimal step for everything, but here it goes.

• Created a new packagegroup for the ROS related stuff.
• Add the following to the RDEPENDS_${PN} of this packagegroup: ros-base, ros-workspace-implicitworkspace, foonathan-memory-staticdev.
• Added this packagegroup to the SDK_RDEPENDS (this might be called differently, we use an alias in our yocto project)
• Added nativesdk-ament-package, nativesdk-ament-cmake, nativesdk-rosidl-default-generators, nativesdk-rosidl-typesupport-fastrtps-c, nativesdk-rosidl-typesupport-fastrtps-cpp and nativesdk-colcon-ros to the RDEPENDS_${PN} of the nativesdk- of this packagegroup
• Added the following files

ament-cmake_%.bbappend

RDEPENDS_${PN}_append = " \
    ament-cmake-core \
    ament-cmake-export-definitions \
    ament-cmake-export-dependencies \
    ament-cmake-export-include-directories \
    ament-cmake-export-interfaces \
    ament-cmake-export-libraries \
    ament-cmake-export-link-flags \
    ament-cmake-export-targets \
    ament-cmake-libraries \
    ament-cmake-python \
    ament-cmake-target-dependencies \
    ament-cmake-test \
    ament-cmake-version \
    ament-cmake-include-directories \
"

spdlog_%.bbappend

BUILDSDK_CXXFLAGS_append = " -fuse-ld=gold"

BBCLASSEXTEND = " nativesdk "

spdlog-vendor_%.bbappend (I'm not sure if everything is required from that, spdlog was driving me crazy)

ROS_BUILD_DEPENDS_remove = "spdlog"
ROS_EXPORT_DEPENDS_remove = "spdlog"
DEPENDS_append_class-target = " spdlog "
DEPENDS_append_class-nativesdk = " spdlog "
#DEPENDS_append = "spdlog"
# spdlog is header only library and PN is empty, so it wasn't created
RDEPENDS_${PN}_remove = "spdlog"
RDEPENDS_${PN}_remove = "nativesdk-spdlog"

rcl-logging-spdlog_%.bbappend

# spdlog is header only library and PN is empty, so it wasn't created
ROS_BUILD_DEPENDS_remove = "spdlog"
DEPENDS_append_class-target = " spdlog "
RDEPENDS_${PN}_remove = "spdlog"
RDEPENDS_${PN}_remove = "nativesdk-spdlog"

foonathan-memory_%.bbappend

BUILDSDK_CXXFLAGS_append = " -fPIC "

python3-pytest-cov_%.bbappend

RDEPENDS_${PN}_append = " \
    ${PYTHON_PN}-pytest \
    ${PYTHON_PN}-coverage \
"

python3-coverage_5.2.1.bb

SUMMARY = "Code coverage measurement for Python"
HOMEPAGE = "https://coverage.readthedocs.io"
LICENSE = "Apache-2.0"
LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=2ee41112a44fe7014dce33e26468ba93"

SRC_URI[md5sum] = "9e6165146b9bda60a779953c79e8ca54"
SRC_URI[sha256sum] = "a34cb28e0747ea15e82d13e14de606747e9e484fb28d63c999483f5d5188e89b"

inherit pypi setuptools3

python3-pytest-rerunfailures_10.2.bb

inherit setuptools3

SUMMARY = "pytest-rerunfailures is a plugin for pytest that re-runs tests to eliminate intermittent failures."
HOMEPAGE = "https://github.com/pytest-dev/pytest-rerunfailures"
LICENSE = "MPL-2.0"
LIC_FILES_CHKSUM = "file://LICENSE;md5=06238b648baf0545473491607f3093c5"

RDEPENDS_${PN}_append = " \
    ${PYTHON_PN}-pytest \
    ${PYTHON_PN}-setuptools \
"

SRC_URI = "git://github.com/pytest-dev/pytest-rerunfailures.git;tag=${PV};protocol=https"
S="${WORKDIR}/git"

BBCLASSEXTEND = "nativesdk"

python3-pytest-repeat_0.9.1.bb

inherit setuptools3

SUMMARY = "pytest-repeat is a plugin for pytest that makes it easy to repeat a single test, or multiple tests, a specific number of times."
HOMEPAGE = "https://github.com/pytest-dev/pytest-repeat"
LICENSE = "MPL-2.0"
LIC_FILES_CHKSUM = "file://LICENSE;md5=2a0bb0f2949a8babbc1df9a81a569b25"

DEPENDS_append = " \
    ${PYTHON_PN}-setuptools-scm-native \
"

RDEPENDS_${PN}_append = " \
    ${PYTHON_PN}-pytest \
    ${PYTHON_PN}-setuptools-scm \
"

SRC_URI = " git://github.com/pytest-dev/pytest-repeat.git;tag=v${PV};protocol=https; "
S="${WORKDIR}/git"

BBCLASSEXTEND = "nativesdk"

python3-distlib_0.3.2.bb

inherit setuptools3

SUMMARY = "Distlib is a library which implements low-level functions that relate to packaging and distribution of Python software. It is intended to be used as the basis for third-party packaging tools. The documentation is available at."
HOMEPAGE = "https://github ...