release 1.0 for ruediger offline - only ruediger2_control working

Makefile

@@ -8,6 +8,9 @@ focal-rt-ros2:
 jammy-rt-ros2:
 	sudo ./ros-rt-img build jammy-rt jammy-rt-humble
 
+jammy-rt-ruediger2:
+	sudo ./ros-rt-img build jammy-rt-humble-ruediger
+
 clean:
 	sudo ./ros-rt-img teardown
 	sudo rm -rf out cache

image_builder/data/jammy-rt-humble-ruediger/config.ini

@@ -0,0 +1,22 @@
+# Overrides the variables in focal-rt/config.ini. See that file for a more
+# comprehensive example.
+[build]
+# The image url to download and customize.
+image_url = https://github.com/ros-realtime/ros-realtime-rpi4-image/releases/download/22.04.1_v5.15.39-rt42-raspi_ros2_humble/ubuntu-22.04.1-rt-ros2-arm64+raspi.img.xz
+
+# Mount location for the partitions in the image file downloaded.
+image_mounts = /boot/firmware,/
+
+# This is passed to truncate --size=<image_size> when operating against the
+# .img file
+image_size = 12G
+
+# The filename of the output image
+output_filename = ubuntu-22.04.1-rt-ruediger2-arm64+raspi.img
+
+# The host path to the qemu-user-static binary required for the above image
+qemu_user_static_path = /usr/bin/qemu-aarch64-static
+
+[env]
+ROS_DISTRO = humble
+

image_builder/data/jammy-rt-humble-ruediger/rootfs/boot/firmware/cmdline.txt

@@ -0,0 +1 @@
+dwc_otg.lpm_enable=0 console=tty1 root=LABEL=writable rootfstype=ext4 rootwait fixrtc quiet splash

image_builder/data/jammy-rt-humble-ruediger/rootfs/boot/firmware/config.txt

@@ -0,0 +1,51 @@
+[all]
+kernel=vmlinuz
+cmdline=cmdline.txt
+initramfs initrd.img followkernel
+
+[pi4]
+max_framebuffers=2
+arm_boost=1
+
+[all]
+# Enable the audio output, I2C and SPI interfaces on the GPIO header. As these
+# parameters related to the base device-tree they must appear *before* any
+# other dtoverlay= specification
+dtparam=audio=on
+dtparam=i2c_arm=on,i2c_arm_baudrate=400000
+dtparam=spi=on
+
+# Comment out the following line if the edges of the desktop appear outside
+# the edges of your display
+disable_overscan=1
+
+# If you have issues with audio, you may try uncommenting the following line
+# which forces the HDMI output into HDMI mode instead of DVI (which doesn't
+# support audio output)
+#hdmi_drive=2
+
+# Enable the serial pins
+enable_uart=1
+
+# Autoload overlays for any recognized cameras or displays that are attached
+# to the CSI/DSI ports. Please note this is for libcamera support, *not* for
+# the legacy camera stack
+camera_auto_detect=1
+display_auto_detect=1
+
+# Config settings specific to arm64
+arm_64bit=1
+dtoverlay=dwc2
+
+[cm4]
+# Enable the USB2 outputs on the IO board (assuming your CM4 is plugged into
+# such a board)
+dtoverlay=dwc2,dr_mode=host
+
+[pi3]
+dtoverlay=pi3-disable-bt
+
+[all]
+start_x=1
+gpu_mem=256
+dtoverlay=disable-bt

image_builder/data/jammy-rt-humble-ruediger/rootfs/boot/firmware/user-data

@@ -0,0 +1,32 @@
+#cloud-config
+
+# On first boot, set the (default) ruediger user's password to "ruediger" and
+# expire user passwords
+chpasswd:
+  expire: true
+  list:
+  - ruediger:ruediger
+
+## Set the system's hostname. Please note that, unless you have a local DNS
+## setup where the hostname is derived from DHCP requests (as with dnsmasq),
+## setting the hostname here will not make the machine reachable by this name.
+## You may also wish to install avahi-daemon (see the "packages:" key below)
+## to make your machine reachable by the .local domain
+hostname: ruediger2
+
+# Enable password authentication with the SSH daemon
+ssh_pwauth: true
+
+users:
+- default
+- name: ruediger
+  plain_text_passwd: 'ruediger'
+  homedir: /home/ruediger
+  shell: /bin/bash
+  groups: [ adm, audio, cdrom, dialout, floppy, video, plugdev, dip, netdev, sudo, lxd ]
+  sudo: ['ALL=(ALL) NOPASSWD:ALL']
+
+
+## Run arbitrary commands at rc.local like time
+runcmd:
+-  [deluser, --remove-home, ubuntu]

image_builder/data/jammy-rt-humble-ruediger/rootfs/etc/apt/sources.list.d/ros2.list

@@ -0,0 +1 @@
+deb [arch=arm64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu jammy main

image_builder/data/jammy-rt-humble-ruediger/rootfs/etc/profile.d/99-source-ros.sh

@@ -0,0 +1,3 @@
+if [ -f /opt/ros/humble/setup.bash ]; then
+  source /opt/ros/humble/setup.bash
+fi

image_builder/data/jammy-rt-humble-ruediger/scripts/extract-image

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+set -xe
+
+# This script extract the image downloaded from the image_url specified in
+# config.ini. The script should be tailored to the image download.
+#
+# The script is called with only one argument: the path to the file downloaded.
+# The script should output the decompressed output into stdout, so it can be
+# redirected into a file by the build system.
+exec xzcat --decompress "$1"

image_builder/data/jammy-rt-humble-ruediger/scripts/loop-device-setup

@@ -0,0 +1,8 @@
+#!/bin/bash
+loop_device=$1
+
+set -xe
+
+# The image should always be using the second partition
+e2fsck -y -f "${loop_device}"p2
+resize2fs "${loop_device}"p2

image_builder/data/jammy-rt-humble-ruediger/scripts/phase1-target

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+apt-get update
+
+apt-get install -y ros-$ROS_DISTRO-xacro ros-$ROS_DISTRO-ros2-control ros-$ROS_DISTRO-ros2-controllers libwiringpi-dev
+
+# reverse the network names to eth0 instead of enx<mac-address>
+# this is automatique after a apt-get update
+# https://askubuntu.com/a/1025201
+ln -s /dev/null /etc/udev/rules.d/80-net-setup-link.rules
+
+# add library link
+ln -s /home/ruediger/deployement/serial_megapi/lib/serial_megapi/libserial_megapi.so /usr/local/lib/libserial_megapi.so
+ldconfig
+
+# clean up to reduce image size
+apt-get autoremove -y && apt-get clean
+rm -rf /var/lib/apt/lists/*