Basic android app with ros master selection

android.toolchain.cmake

@@ -0,0 +1,17 @@
+
+if(ANDROID_NDK_TOOLCHAIN_INCLUDED)
+  return()
+endif(ANDROID_NDK_TOOLCHAIN_INCLUDED)
+include($ENV{ANDROID_NDK_HOME}/build/cmake/android.toolchain.cmake)
+
+## Build without debug symbols in Release mode and add RelWithDebInfo mode.
+foreach(_var ANDROID_COMPILER_FLAGS CMAKE_C_FLAGS CMAKE_CXX_FLAGS CMAKE_ASM_FLAGS)
+  string(REPLACE "-g " "" ${_var} "${${_var}}")
+  set(${_var}_DEBUG "-g ${${_var}_DEBUG}")
+  set(${_var}_RELWITHDEBINFO "-g ${${_var}_RELEASE}")
+endforeach()
+unset(_var)
+
+if(ANDROID_TOOLCHAIN STREQUAL clang)
+  list(APPEND ANDROID_COMPILER_FLAGS_RELWITHDEBINFO -fno-limit-debug-info)
+endif()

apply_patches.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+# Abort script on any failures
+set -e
+
+my_loc="$(cd "$(dirname $0)" && pwd)"
+source $my_loc/config.sh
+source $my_loc/utils.sh
+
+if [ $# != 2 ] || [ $1 == '-h' ] || [ $1 == '--help' ]; then
+    echo "Usage: $0 patch_prefix output_prefix"
+    echo "  example: $0 /home/user/ros_android/patches /home/user/my_workspace/output"
+    exit 1
+fi
+
+patch_prefix=$1
+output_prefix=$2
+
+echo
+echo -e '\e[34mApplying patches.\e[39m'
+echo
+
+for patch_file in $patch_prefix/*.patch; do
+	apply_patch $patch_file -d $output_prefix
+done

build_cpp.sh → build_catkin_workspace.sh

@@ -86,7 +86,7 @@ if [ "$WORKSPACE" = "" ]; then
   exit 1
 fi
 
-: ${RBA_TOOLCHAIN:=$ANDROID_NDK/build/cmake/android.toolchain.cmake}
+: ${RBA_TOOLCHAIN:=$my_loc/android.toolchain.cmake}
 
 # get the prefix path
 prefix=$(cd $PREFIX_PATH && pwd)

config.sh

@@ -6,7 +6,3 @@ export ANDROID_PLATFORM=android-24
 # Enable this value for debug build
 #CMAKE_BUILD_TYPE=Debug
 CMAKE_BUILD_TYPE=Release
-
-# Enable this if you need to use pluginlib in Android.
-# The plugins will be statically linked
-use_pluginlib=1

docker/.dockerignore

@@ -0,0 +1,5 @@
+build.sh
+Dockerfile
+.dockerignore
+README.md
+run.sh

docker/Dockerfile

@@ -23,14 +23,8 @@ RUN apt-get update && apt-get install -y openjdk-8-jdk
 RUN wget https://dl.google.com/android/repository/sdk-tools-linux-4333796.zip
 RUN unzip sdk-tools-linux-4333796.zip -d /opt/android/sdk
 RUN yes | $ANDROID_HOME/tools/bin/sdkmanager --licenses
-RUN $ANDROID_HOME/tools/bin/sdkmanager "build-tools;26.0.2" "platform-tools" "platforms;android-26" --sdk_root=/opt/android/sdk
-ENV PATH /opt/android/sdk/tools:/opt/android/sdk/platform-tools:$PATH
-
-# Install CMake 3.6
-WORKDIR /opt
-RUN wget https://cmake.org/files/v3.6/cmake-3.6.3-Linux-x86_64.sh && chmod +x cmake-3.6.3-Linux-x86_64.sh
-RUN yes | sh '/opt/cmake-3.6.3-Linux-x86_64.sh'
-RUN ln -s /opt/cmake-3.6.3-Linux-x86_64/bin/* -t /usr/local/bin
+RUN $ANDROID_HOME/tools/bin/sdkmanager "build-tools;26.0.2" "platform-tools" "platforms;android-26" "cmake;3.6.4111459" --sdk_root=/opt/android/sdk
+ENV PATH /opt/android/sdk/tools:/opt/android/sdk/platform-tools:/opt/android/sdk/cmake/3.6.4111459/bin:$PATH
 
 # Install Python libraries
 RUN apt-get install python-lxml -y
@@ -46,3 +40,7 @@ ENV PATH /usr/lib/ccache:$PATH
 
 # Clear entrypoint (do not source /opt/ros/kinetic)
 ENTRYPOINT []
+
+VOLUME /opt/ros_android
+WORKDIR /opt/ros_android
+CMD ["bash"]

docker/build.sh

@@ -3,5 +3,5 @@
 IMAGE=android_ndk
 
 pushd "$( dirname "${BASH_SOURCE[0]}" )"
-docker build -t ${IMAGE} .
+docker build -t ${IMAGE} "$@" .
 popd

docker/run.sh

@@ -4,14 +4,34 @@ SCRIPTPATH="$( cd "$(dirname "$0")" ; pwd -P )"
 REPO_ROOT=$SCRIPTPATH/../
 IMAGE=android_ndk
 
-if [ "$#" == 0 ]; then
-  EXTRA_ARGS="bash"
-else
-  EXTRA_ARGS="bash -c \"$@\""
-fi
+DOCKEROPTS=()
+while [ $# -gt 0 ]; do
+  case "$1" in
+    --help)
+      # print usage
+      echo "Usage: $0 [DOCKER OPTIONS] [-- [COMMAND]]"
+      echo
+      echo "Docker options:"
+      docker run --help | tail -n +7
+      exit 0
+      ;;
+    --)
+      # end-of-options: all arguments after the -- will be interpreted as a command to run inside the container.
+      shift
+      break
+      ;;
+    *)
+      # collect docker options
+      DOCKEROPTS+=("$1")
+      shift
+      ;;
+  esac
+done
 
+set -x
 docker run \
   -v ${REPO_ROOT}:/opt/ros_android \
   --privileged \
   -it \
-  ${IMAGE} "${EXTRA_ARGS}"
+  "${DOCKEROPTS[@]}" \
+  ${IMAGE} "$@"

example_workspace/src/hello_world_example_app/app/src/main/cpp/CMakeLists.txt → example_workspace/src/hello_world_example_app/app/CMakeLists.txt

@@ -20,30 +20,30 @@ project(hello_ros)
 
 find_package(catkin REQUIRED COMPONENTS roscpp std_msgs rosconsole)
 
-include_directories(${catkin_INCLUDE_DIRS})
+include_directories(include ${catkin_INCLUDE_DIRS})
 
 # build native_app_glue as a static lib
-set(${CMAKE_C_FLAGS}, "${CMAKE_C_FLAGS}")
-add_library(native_app_glue STATIC
-    ${ANDROID_NDK}/sources/android/native_app_glue/android_native_app_glue.c)
+# set(${CMAKE_C_FLAGS}, "${CMAKE_C_FLAGS}")
+# add_library(native_app_glue STATIC
+#     ${ANDROID_NDK}/sources/android/native_app_glue/android_native_app_glue.c)
 
 # now build app's shared lib
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11 -Wall -Werror")
 
 # Export ANativeActivity_onCreate(),
 # Refer to: https://github.com/android-ndk/ndk/issues/381.
-set(CMAKE_SHARED_LINKER_FLAGS
-    "${CMAKE_SHARED_LINKER_FLAGS} -u ANativeActivity_onCreate")
+# set(CMAKE_SHARED_LINKER_FLAGS
+    # "${CMAKE_SHARED_LINKER_FLAGS} -u ANativeActivity_onCreate")
 
-add_library(native-activity SHARED main.cpp)
+add_library(native-activity SHARED src/main/jni/com_ros_example_hello_ros_MainActivity_RosThread.cpp src/main/cpp/main.cpp src/main/cpp/main_thread.cpp)
 
-target_include_directories(native-activity PRIVATE
-    ${ANDROID_NDK}/sources/android/native_app_glue)
+# target_include_directories(native-activity PRIVATE
+    # ${ANDROID_NDK}/sources/android/native_app_glue)
 
 # add lib dependencies
 target_link_libraries(native-activity
     android
-    native_app_glue
+    # native_app_glue
     ${catkin_LIBRARIES}
-    log
+    # log
 )

example_workspace/src/hello_world_example_app/app/build.gradle

@@ -4,7 +4,7 @@ android {
     compileSdkVersion 28
 
     defaultConfig {
-        applicationId = 'com.example.hello_ros'
+        applicationId = 'com.ros.example.hello_ros'
         minSdkVersion 24
         targetSdkVersion 24
         externalNativeBuild {
@@ -32,7 +32,7 @@ android {
     }
     externalNativeBuild {
         cmake {
-            path 'src/main/cpp/CMakeLists.txt'
+            path 'CMakeLists.txt'
         }
     }
 }

example_workspace/src/hello_world_example_app/app/include/ros_android/main_thread.h

@@ -0,0 +1,40 @@
+#ifndef __ROS_ANDROID_MAIN_THREAD_H__
+#define __ROS_ANDROID_MAIN_THREAD_H__
+
+#include <memory>
+#include <mutex>
+#include <string>
+
+namespace ros_android {
+class MainThread {
+  public:
+    MainThread();
+    explicit MainThread(std::string);
+    virtual ~MainThread() = 0;
+
+    typedef std::shared_ptr<MainThread> Ptr;
+    static Ptr Instance(void);
+
+    virtual void run() = 0;
+    virtual void stop() = 0;
+    bool check_ros_master(std::string master_ip, std::string my_ip);
+  private:
+    std::string node_name;
+
+    static std::mutex s_instance_mutex;
+    static Ptr s_instance;
+};
+} // namespace ros_android
+
+#define MY_ROS_ANDROID_MAIN_THREAD(class_name) \
+  ros_android::MainThread::Ptr ros_android::MainThread::Instance() { \
+    Ptr instance = s_instance; \
+    if (!instance) { \
+      std::lock_guard<std::mutex> lock(s_instance_mutex); \
+      if (!s_instance) { \
+        instance = s_instance = std::make_shared<class_name>(); \
+      } \
+    } \
+    return instance; \
+  }
+#endif // #ifndef __ROS_ANDROID_MAIN_THREAD_H__

example_workspace/src/hello_world_example_app/app/src/main/AndroidManifest.xml

@@ -1,30 +1,23 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- BEGIN_INCLUDE(manifest) -->
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
-          package="com.example.hello_ros"
+          package="com.ros.example.hello_ros"
           android:versionCode="1"
           android:versionName="1.0">
 
   <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE"/>
   <uses-permission android:name="android.permission.INTERNET"/>
   <uses-permission android:name="android.permission.ACCESS_WIFI_STATE"/>
 
-  <!-- This .apk has no Java code itself, so set hasCode to false. -->
   <application
       android:allowBackup="false"
       android:fullBackupContent="false"
       android:icon="@mipmap/ic_launcher"
       android:label="@string/app_name"
-      android:hasCode="false">
+      android:hasCode="true">
 
-    <!-- Our activity is the built-in NativeActivity framework class.
-         This will take care of integrating with our NDK code. -->
-    <activity android:name="android.app.NativeActivity"
+    <activity android:name="com.ros.example.hello_ros.MainActivity"
               android:label="@string/app_name"
               android:configChanges="orientation|keyboardHidden">
-      <!-- Tell NativeActivity the name of our .so -->
-      <meta-data android:name="android.app.lib_name"
-                 android:value="native-activity"/>
       <intent-filter>
         <action android:name="android.intent.action.MAIN"/>
         <category android:name="android.intent.category.LAUNCHER"/>
@@ -33,4 +26,3 @@
   </application>
 
 </manifest>
-<!-- END_INCLUDE(manifest) -->