Application Development Guide

This section covers the development of applications on the Renesas RZ/V2H RDK platform, including setup, cross-build, debug, and deploy the application.

• Cross compilation the Application for RZ/V2H RDK
  • What is Cross-building?
  • How ROS 2 Cross-building Works
  • Limitations
• Cross compilation Environment Setup
  • Hardware requirements
  • Software requirements on the host machine
• Cross compilation Usage Guide
  • Prepare your workspace
  • rzv2h-chroot
  • sysroot-rosdep-install
  • cross-colcon-build
  • Development Workflow
• ROS 2 VS Code Workspace Configuration
  • Prerequisites
  • Expected Workspace Structure
  • Install Recommended VS Code Extensions
  • VS Code Configuration Files
  • Workspace Settings
  • Supported VS Code Tasks
  • Task Buttons
• ROS 2 Application Deployment
  • Prerequisites
  • Install Dependencies into the Sysroot
  • Build the Application
  • Deploy to Target
  • Install Dependencies on the Target
  • Run the Application
• ROS 2 Application Remote Debugging
  • Prerequisites
  • Debugging Workflow
• Tutorial with Vision Based Dexterous Hand
  • Tutorial Scenario
  • Before You Begin
  • Step 1: Open the Workspace in VS Code
  • Step 2: Configure settings.json
  • Step 3: Install Sysroot Dependencies and Build the Workspace
  • Step 4: Deploy the Built Files to the Target Device
  • Step 5: Install Runtime Dependencies on the Target
  • Step 6: Run the Dexterous Hand Application on the Target
  • Step 7: Verify That the Application Is Running
  • Step 8: Prepare for Remote Debugging
  • Step 9: Start Remote Debugging from VS Code
  • Step 10: Typical Day-to-Day Workflow
  • Troubleshooting
  • Summary
• Known Issue: Non-Relocatable Sysroot CMake Paths
  • How to Recognize This Issue
  • Why This Happens
  • What Happens Automatically
  • How to Fix It Yourself
  • Examples of Existing Rules
  • How to Interpret Script Output
  • When You Should Update the YAML File
  • Summary
• Cross-compilation FAQ
  • General
  • Build and Dependencies
  • Sysroot and Docker Environment
  • Deployment and Runtime
  • Debugging