ROS2 support in standard SDK

[jiaxshi]

ROS2 support in standard SDK.
Refer to #988

Generate SDK

bitbake xxx-image -c populate_sdk
For example:
bitbake ros-image-core -c populate_sdk

Build ROS package

Set up SDK env before below steps.

ROS env set up

export AMENT_PREFIX_PATH="${OECORE_NATIVE_SYSROOT}/usr:${OECORE_TARGET_SYSROOT}/usr"

export PYTHONPATH=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.10/site-packages/:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/

colcon build --cmake-args -DCMAKE_TOOLCHAIN_FILE=${OE_CMAKE_TOOLCHAIN_FILE} \
-DBUILD_TESTING=OFF \
-DCMAKE_MAKE_PROGRAM=/usr/bin/make \
-DPYTHON_SOABI=cpython-310-aarch64-linux-gnu

Build examples

git clone https://github.com/ros2/examples.git -b humble
cd examples
git clone https://github.com/ros2/example_interfaces.git -b humble

colcon build --cmake-args -DCMAKE_TOOLCHAIN_FILE=${OE_CMAKE_TOOLCHAIN_FILE} \
-DBUILD_TESTING=OFF \
-DCMAKE_MAKE_PROGRAM=/usr/bin/make \
-DPYTHON_SOABI=cpython-310-aarch64-linux-gnu

---
Finished <<< examples_rclcpp_wait_set [32.5s]

Summary: 23 packages finished [1min 12s]

Issues

A discussion is created for discussing ROS support in SDK #1204

Build warning: stderr: python setup.py install is deprecated

--- stderr: examples_rclpy_minimal_client
/local/mnt3/workspace/jiaxshi/projects/sdk/ws4/sysroots/x86_64-qcomsdk-linux/usr/lib/python3.10/site-packages/setuptools/command/instal
l.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.

host path is included

setup script

vi install/setup.sh
 _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/local/mnt3/workspace/jiaxshi/projects/sdk/ws4/examples/install

###python shebang

vi install/examples_rclpy_executors/lib/examples_rclpy_executors/talker
 1 #!/local/mnt3/workspace/jiaxshi/projects/sdk/ws4/sysroots/x86_64-qcomsdk-linux/usr/bin/python3
  2 # EASY-INSTALL-ENTRY-SCRIPT: 'examples-rclpy-executors==0.15.1','console_scripts','talker'

[sgstreet]

@jiaxshi What KAS configuration did you use so I match up with this PR?

[jiaxshi]

@jiaxshi What KAS configuration did you use so I match up with this PR?

I didn't use kas for this PR. The PR can be applied on latest kirkstone-next