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ROS 2 Humble on ctrlX OS: A Snap Implementation of the ROS 2 Humble Distribution using ROS 2 Debian Package

Introduction

We recommend for ROS 2 applications running on a ctrlX OS this approach:

  • Build and install a base snap containing the ROS 2 runtime and the components used for the ctrlX Data Layer access.
  • This base snap provides its components using the snap content interface.
  • Pack your ROS 2 application into one or more overlay snaps.
  • Let these overlay snap use the ROS 2 runtime and the ctrlX Data Layer via the content interface of the base snap.

This documentation describes how the base snap ros2-base can be build.

!!! important The build for arm64 devices uses Docker and is in an unreleased state!

Content of the Base Snap

The file snap/snapcraft.yaml defines how the base snap will be build.

Debian Packages

The snapcraft plugin colcon is used to download Debian packages:

  • Needed during build process: make, gcc, g++
  • Needed at runtime: software-properties-common, ros-humble-ros-base, python3-argcomplete, ca-certificates, libzmq5, ctrlx-datalayer

Python Wheels

The snapcraft plugin python is used to download python wheels:

  • python3-wheel
  • ctrlx-datalayer
  • empy
  • numpy
  • rosdep
  • rosdistro
  • colcon-core
  • lark rosdep
  • rosdistro
  • colcon-core
  • lark

Content Interface

The base snap makes its files available via the content interface executables.

Building the Base Snap

AMD64

Compiling for AMD64 on an AMD64 machine is straight-forward. Apart from the snap/snapcraft.yaml file and a shell script that calls snapcraft, nothing else is needed here.

Call:

    ./build-snap.sh

ARM64

We recommend using a native ARM64 host environment to compile the ARM64 code. In this case just call ./build-snap.sh.

Building an ARM64 on an AMD64 environment requires cross-compilation, which is trickier. You can use Docker.

Call:

    ./build-snap-arm64-on-amd64.sh

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Licenses

SPDX-License-Identifier: MIT