{common}: add ROS desktop image

[vermaete]

Add a Yocto image that includes ros-core and desktop-full with X11 support.

@robwoolley I assume this commit was buried set of patches. Could this one be added?

[robwoolley]

Coincidentally, I was in the middle of testing it.

Here is some feedback on the change:

• ros-core is already part of desktop-full so it is unnecessary to specify both (see https://www.ros.org/reps/rep-2001.html )
• we should probably just include desktop not desktop-full
• should we create a ros-image-desktop-full as well? or just add perception and simulation to ros-image-desktop?
• It should automatically start into the desktop, right now the packages are included but I don't think anything is running on startup

[vermaete]

Hi Rob,

Coincidentally, I was in the middle of testing it.

Here is some feedback on the change:

* ros-core is already part of desktop-full so it is unnecessary to specify both (see https://www.ros.org/reps/rep-2001.html )

I can fix it. But not anymore today.

* we should probably just include desktop not desktop-full

It's for me the same. I was just looking for something bigger than core to do a check on the recipes.
Having desktop and desktop-full seems to be perfect in line with rep-2001.

* should we create a ros-image-desktop-full as well?  or just add perception and simulation to ros-image-desktop?

* It should automatically start into the desktop, right now the packages are included but I don't think anything is running on startup

For now, this seems to be an issue for later. Yocto looks rather unstable on the master branch. And meta-raspberrypi,the machine I'm using, is lagging behind. But yes, I do agree that the desktop image should be 'ready to be used'.

[vermaete]

@robwoolley Thank for the link to the REP. I made a v2 of the PR.

BTW: nor desktop nor desktop-full is passing at the moment with MACHINE=raspberrypi5 and Yocto=master.
But I assume it could already be merged into master in the effort to get them passing.

[robwoolley]

Thanks, I see having a desktop image recipe as something I would want to add across all combinations. So, I don't feel the need to make master build 100% before merging it in.

I would like to better define what it is meant to be before merging it in. For example, the ROS visualization tools currently require Qt5, X11, a graphics driver, and hardware acceleration. I think that limits the use to Intel 64 (including qemux84-64) and Raspberry Pi 4 / 5 machines. An added complication is that there are transitions going on at the moment from Qt5 with X11 to Qt6 on Wayland. I suspect that Kilted and older will need to stay on Qt5 and Rolling should make the leap to Qt6. I don't know what that means yet for weird combinations like Rolling on Kirkstone.

Some of these complications make me shy to merge in the image recipe before having a plan about where things are going. It is an exciting problem to have though. I see it as charting new waters for "desktop Yocto".

[vermaete]

@robwoolley All true. Another table in the readme.md file could help showing the users which image is working for which combination of Yocto/ROS at this moment.
But for now to have a big bunch of recipes passing in CI/CD it could be already useful.
I assume next on the list is 'world'. But then we need the python3-scipy in the layers.