[Android] ROS2 for Android 빌드 방법

* 환경 : Ubuntu 20.04
* ROS2 설치 버전: foxy

1. ROS2 설치

  1) Locale 설정

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

    2) ROS2 Repository 추가

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

   3) ROS2 패키지 설치

sudo apt update
sudo apt install ros-foxy-desktop

   4) ROS2 실행

source /opt/ros/foxy/setup.bash

 //  ~/.bashrc에 등록하려면 아래 명령어 입력

echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc

   5) ROS2 테스트

      2개의 터미널을 열어서 각 터미널에서 아래 명령어를 실행하여 정상적으로 메세지가 송/수신 되는지 확인합니다.

// 터미널1

ros2 run demo_nodes_cpp talker

// 터미널2

ros2 run demo_nodes_py listener

 

2. Java & SDK 설치

sudo apt install default-jdk

 

3. Gradle 설치 (Gradle 3.2 이상)

sudo apt install gradle

 

4. Build Tool 설치

 sudo apt install curl python3-colcon-common-extensions python3-pip python3-vcstool

 

5. Gradle extensions for colcon 설치

 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

 

6. Download and Build ROS 2 Java for Android

   1) Android NDK 다운로드  및 설정

       - Android NDK 다운로드 : https://developer.android.com/ndk/downloads/index.html
       - 압축 풀기 후, 해당 경로 ANDROID_NDK 로 저장

ANDROID_NDK=~/Android/Ndk

   2) Android SDK 다운로드  및 설정

       - Android SDK 다운로드 : https://developer.android.com/studio/#downloads
       - 압축 풀기 후, 해당 경로 ANDROID_HOME 로 저장

ANDROID_HOME=~/Android/Sdk

   3) Clone ROS2,  ROS2 Java source code

mkdir -p $HOME/ros2_android_ws/src
cd $HOME/ros2_android_ws
curl https://raw.githubusercontent.com/ros2-java/ros2_java/main/ros2_java_android.repos | vcs import src

   4) Android Build Configuation 설정

 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

   5) Build

 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"

 

 

[출처]
https://omorobot.gitbook.io/manual/product/omo-r1mini/ros/ros2-foxy/ros2-ubuntu-20.04

ROS2 설치하기 Ubuntu 20.04 - OMOROBOT

 

https://github.com/ros2-java/ros2_java

GitHub - ros2-java/ros2_java: Java and Android bindings for ROS2

 

https://github.com/ros2-java/ros2_android_examples

GitHub - ros2-java/ros2_android_examples: Example Android apps for the ROS2 Java bindings