Yocto SDK ROS1 melodic meta-ros build - sdk

Question

we are starting to integrate the ROS layer to our Yocto build system of the company. Since our process is to provide a SDK to our application developers which can cross compile their applications suitable to the target boards which we are supporting, we are facing a problem to integrate the catkin toolchain into the Yocto SDK. We are using the ROS1 melodic version in the meta-ros branch dunfell. Using the popultate_sdk to our target it didn’t integrate the catkin toolchain at all. We bbappend the catkin recipe with the extension BBCLASSEXTEND=“native nativesdk” which builds the toolchaininto the SDK, but we are facing the issue that the paths to the catkin toolchain are not working if we source the environment script of the SDK as described in the Yocto manual. But anyway I am not sure if this is the correct way to integrate the catkin toolchain into the SDK.
So basically:
Is there a documentation/manual to integrate the catkin toolchain into the Yocto SDK? Are there any solutions? Did somebody tried it and get a positive result?

Answer 1

Which recipe are you trying to use the catkin_tools to build with?
when you add
BBCLASSEXTEND = "native nativesdk"
this results in two different recipes being built that any other recipe can depend on.
Including the BBCLASSEXTEND would mean that the catkin-%.bb recipe then creates the nativesdk-catkin and catkin-native targets. These targets are used in other recipes as such:
DEPENDS = "catkin-native"
and like all recipes being DEPEND upon, they will show up in either ${RECIPE_SYSROOT_NATIVE} or ${RECIPE_SYSROOT}