Platform reference: CN/EN V1.1.1, RK Linux SDK/Buildroot, RK356x/RK3562 examples. Version and Python compatibility appear below; 32-bit rootfs is not verified/supported in the source. Verify the SDK, toolchain and rootfs for the actual ArmSoM board; no hardware validation performed. Build times and output are vendor examples. Neither PDF contains technical figures; all tables and code are editable.
Source ambiguities retained: both docker container cp commands copy ros2-sources.tar.gz although later steps require ros2-build-scripts.tar.gz. Names build_ros2.sh/build-ros2.sh, pybind11_verdor and cross_compile.mimix/mimix versus cross-compile.mixin are inconsistent. These are not validated scripts. Removing _FORTIFY_SOURCE is a source troubleshooting proposal that can weaken protections and requires review. Flashing and swap operations change the system; none were executed. Source authorship is preserved.
Chinese code-comment explanations: Dockerfiles create images; the two image archives are prebuilt images; linux-sdk-patches contains potentially missing SDK patches; MD5SUM checks archives; scripts contains build scripts/patches and sources the source dependencies. Add missing LTTNG_TOOLS for iron; newgrp enters the Docker group; first obtain the container ID; do not omit ./ (current directory); successful builds show the sample prompt; fill Docker TRY_RUN values using board results; the rootfs command repackages the image; strace shows an incorrect search under toolchain sysroot/$CMAKE_PREFIX_PATH.
ArmSoM Docs · ROS2 Documentation
1. Versions of ROS2
Rockchip Linux SDK is built based on the Buildroot system, and the tool chain and software packages are continuously updated to the newer versions. Therefore, the latest SDK may encounter some bugs when compiling ROS2. For compilation methods we provided, we try to fix the version as much as possible: Fixed version of ROS2 source code, download it from ROS2 githup, and make sure the version number of each software package The version numbers of each ROS2 release are as follows:
| ROS2 releaseversion | Version number | Link |
|---|---|---|
| foxy | ros2-release-foxy-20230620 | https://github.com/ros2/ros2/releases/tag/release-foxy-20230620 |
| galactic | ros2-release-galactic-20221209 | https://github.com/ros2/ros2/releases/tag/release-galactic-20221209 |
| humble | ros2-release-humble-20230724 | https://github.com/ros2/ros2/releases/tag/release-humble-20230724 |
| iron | ros2-release-iron-20230912 | https://github.com/ros2/ros2/releases/tag/release-iron-20230912 |
RK Linux SDK versions which have been successfully built:
| Linux SDKBuildrootVersion | PythonVersion | MatchingDocker image | Remarks |
|---|---|---|---|
| linux-5.10-stan-rkr1 | Python 3.10.5 | jammy-ros2-build | Need to add ros2_dep.config patch |
| linux-4.19-gen-rkr3 | Python 3.8.6 | focal-ros2-build | Need to update and enable lttngrelated patch packages:lttng-tools(2.12.3), lttng-libust(2.12.3), liburcu(0.13.0) needs to beupdated |
Note: The Python versions in Docker host and Target rootfs need to be consistent Not verified for 32-bit systems
2. Files and Instructions of Building in Docker
The patches, Docker images, and source code described in this section can be downloaded from the following address:
https://console.zbox.filez.com/l/iJBMWZ
tree
.
├── docker-focal-python38
│ └── rosdep.Dockerfile # 制作Docker Image的Dockerfile
├── docker-jammy-python310
│ └── rosdep.Dockerfile # 制作Docker Image的Dockerfile
├── focal-ros2-build.tar.gz # 根据Dockerfile制作好的Docker Image
├── jammy-ros2-build.tar.gz # 根据Dockerfile制作好的Docker Image
├── linux-sdk-patches
│ └── buildroot # RK Linux SDK不同发布版本有可能会缺少的补丁
│ ├── 0001-package-add-libasio.patch
│ └── 0002-configs-rockchip-add-ros2-build-dependencies.patch
├── MD5SUM.txt # 各压缩包的MD5SUM检验码
├── ros2-build-scripts.tar.gz # 编译脚本及补丁
└── ros2-sources.tar.gz # ROS2及其部分依赖库的源码包
In the Buildroot directory of RK Linux SDK, check whether there is a ros2_dep.config file,
ls buildroot/configs/rockchip/ros2_dep.config
buildroot/configs/rockchip/ros2_dep.config
# 如该ros2_dep.config中缺少：LTTNG_TOOLS，⼿动加上（ROS2 iron有依赖）
tail -f buildroot/configs/rockchip/ros2_dep.config
# Required by ros2-iron tracetools; With LTTNG foxy/galactic/humble will build tracetools too.
BR2_PACKAGE_LTTNG_TOOLS=y
BR2_PACKAGE_LTTNG_LIBUST=y
If there is no such file, you need to add the following 2 patches in the Buildroot directory
0001-package-add-libasio.patch
0002-configs-rockchip-add-ros2-build-dependencies.patch
Check whether lttng-tools(2.12.3), lttng-libust(2.12.3), liburcu(0.13.0) meet the version requirements
3. Dependencies of Building ROS2
In the Buildroot project in RK Linux SDK, ros2_dep.config provides the dependency packages needed to build and run ROS2, which need to be added and built to rootfs. For example, add ros2_dep.config to rockchip_rk356x_robot_defconfig:
git diff
--- a/configs/rockchip_rk356x_robot_defconfig
+++ b/configs/rockchip_rk356x_robot_defconfig
@@ -10,6 +10,7 @@
#include "wifi.config"
#include "debug.config"
#include "bt.config"
+#include "ros2_dep.config"
BR2_TARGET_GENERIC_HOSTNAME="rk356x_robot"
BR2_TARGET_GENERIC_ISSUE="Welcome to RK356X Buildroot For Robot"
BR2_ROOTFS_OVERLAY:="board/rockchip/common/robot/base board/rockchip/common/wifi"
After the rootfs is fully built, you can continue to the following steps..
4. Linux (Ubuntu) PC Environment Preparation
Install the Docker program in a Ubuntu PC:
sudo apt install docker.io
sudo usermod -aG docker $USER
newgrp docker # 登录到docker⽤⼾组
4.1 Import Docker Image
First check the Python version built by RK Linux SDK, for example:
./buildroot/output/rockchip_rk3562_robot/host/bin/python --version
Python 3.10.5
According to the Python version number, match the corresponding Docker Image:
| Python version | Matching Docker image |
|---|---|
| Python 3.10.5 | jammy-ros2-build |
| Python 3.8.6 | focal-ros2-build |
Select jammy-ros2-build, import and enter Docker Container:
gunzip jammy-ros2-build.tar.gz
docker image load -i jammy-ros2-build.tar
docker run -it --mount type=bind,source=/home/zsq/29/linux-sdk/buildroot/output/rockchip_rk3562_robot/,target=/buildroot jammy-ros2-build
source= needs to be modified to the absolute path of the output directory built by the corresponding Linux SDK After entering Container, the default user is builder and the default password is: rockchip
4.2 Copy the Compilation Script and Source Code Package
Use the docker container cp command to copy the required files:
# ⾸先查找已登录的container ID
docker container ls
CONTAINER ID IMAGE COMMAND CREATED STATUS
PORTS NAMES
c519d9d668f9 jammy-ros2-build "/bin/bash" 15 minutes ago Up 15 minutes
pedantic_feynman
docker container cp ros2-sources.tar.gz c519d9d668f9:/tmp/
docker container cp ros2-sources.tar.gz c519d9d668f9:/tmp/
In the Container, decompress it:
builder@c519d9d668f9:/opt/ros$ ls /tmp/
ros2-build-scripts.tar.gz ros2-sources.tar.gz
builder@c519d9d668f9:/opt/ros$ tar zxf /tmp/ros2-build-scripts.tar.gz -C /
builder@c519d9d668f9:/opt/ros$ tar zxf /tmp/ros2-sources.tar.gz -C /
builder@c519d9d668f9:/opt/ros$ ls
cross-compile foxy galactic humble iron
4.3 Modify the Python Version Number in the Script
Check /opt/ros/cross-compile/cross-compile.mixin and build_ros2.sh , and change the Python version number to the version number corresponding to the RK Linux SDK, for example: 310 is changed to 38, where 310 represents the Python 3.10 version, and so on.
3.10 modified to 3.8
4.4 (Optional) Build ROS2 in Docker
If you want to make a Docker Image from the beginning, you can use the rosdep.Dockerfile provided by RK:
docker build -t jammy-ros2-build -f rosdep.Dockerfile ./ # "./"不要少拷⻉了，表⽰当前⽬录
4.5 (Optional) Download Source Code
If you need to download the source code of other versions yourself, after entering Docker, you can use vcs-import :
cd /opt/ros/foxy
mkdir src
vcs-import -w 10 --retry 10 --skip-existing --recursive src < ros2-release-foxy-20230620/ros2.repos
5. Build ROS2
Double check: RK Linux SDK has been added with ros2_dep.config , and rootfs has been fully built and passed. The selected Docker Image matches the Python compiled by RK Linux SDK Select the required ROS2 version and execute the following commands in sequence:
ls /opt/ros
cross-compile foxy galactic humble iron
cd /opt/ros/iron
./prepare-source.sh
./build-ros2.sh
# 编译成功后，应有类似提⽰:
...
Summary: 317 packages finished [15min 37s]
...
build ros quit & cleanup
Note: The compiled target files are located in the /buildroot/target/opt/ros directory. The intermediate compilation process is stored in the /buildroot/build/ros directory. A successful compilation is indicated if build_ros2.sh does not prompt any errors. However, certain packages cannot be compiled or executed within the Buildroot SDK environment, such as: rviz, which relies on X11/desktop. If you require this functionality, use the Ubuntu arm image directly instead of Buildroot. turtlesim, which relies on UI to display. To exclude the compilation of a particular package, create a COLCON_IGNORE file in the corresponding src path. For example, touch src/ros/ros_tutorials/turtlesim/COLCON_IGNORE .
Results fastrtps TRY_RUN prompt:
fastrtps TRY_RUN prompt:
--- stderr: fastrtps
CMake Error: TRY_RUN() invoked in cross-compiling mode, please set the following
cache variables appropriately:
SM_RUN_RESULT (advanced)
SM_RUN_RESULT__TRYRUN_OUTPUT (advanced)
For details see /buildroot/build/ros/fastrtps/TryRunResults.cmake
You need to follow the instructions to put the application on the board and execute it, and fill in the results according to the instructions. For example:
root@rk3562-buildroot:/# /tmp/cmTC_4f573-SM_RUN_RESULT
PTHREAD_RWLOCK_PREFER_READER_NP
# 根据上述执⾏结果，在docker中填⼊结果：
cat /buildroot/build/ros/fastrtps/TryRunResults.cmake
....
set( SM_RUN_RESULT
"0"
CACHE STRING "PTHREAD_RWLOCK_PREFER_READER_NP" FORCE)
set( SM_RUN_RESULT__TRYRUN_OUTPUT
"0"
CACHE STRING "PTHREAD_RWLOCK_PREFER_READER_NP" FORCE)
rosbag2_cpp TRY_RUN prompt:
--- stderr: rosbag2_cpp
CMake Error: TRY_RUN() invoked in cross-compiling mode, please set the following
cache variables appropriately:
HAVE_SANITIZERS_EXITCODE (advanced)
HAVE_SANITIZERS_EXITCODE__TRYRUN_OUTPUT (advanced)
For details see /buildroot/build/ros/rosbag2_cpp/TryRunResults.cmake
Same as above, you need to follow the instructions to put the application on the board and execute it, and fill in the results according to the instructions. For example:
set( HAVE_SANITIZERS_EXITCODE
"127"
CACHE STRING "error while loading shared libraries: liblsan.so.0: cannot open shared object file: No such file or directory" FORCE)
set( HAVE_SANITIZERS_EXITCODE__TRYRUN_OUTPUT
"127"
CACHE STRING "error while loading shared libraries: liblsan.so.0: cannot open shared object file: No such file or directory" FORCE)
5.2 Build a ROS2 Package and Application Separately
Use the colcon build parameter –packages-select
6. Package rootfs and Run ROS2
When finishing the above ROS2 compilation, enter the buildroot sdk and re-package the rootfs. ROS2 is installed in the /opt/ros directory.
cd /data/linux-sdk/rk3562
./build.sh rootfs # 重新打包rootfs.img
After flashing rootfs.img, enter the rk3562 EVB board and execute Hello World Demo:
# cd /opt/ros/
# export COLCON_CURRENT_PREFIX=/opt/ros
# export ROS_HOME=/userdata/
# source ./local_setup.sh
# ros2 pkg list
# ros2 pkg executables
# ros2 run demo_nodes_cpp listener &
# ros2 run demo_nodes_cpp talker
[INFO] [1501839280.834017748] [talker]: Publishing: 'Hello World: 1'
[INFO] [1501839280.839280957] [listener]: I heard: [Hello World: 1]
[INFO] [1501839281.831636015] [talker]: Publishing: 'Hello World: 2'
[INFO] [1501839281.835092640] [listener]: I heard: [Hello World: 2]
[INFO] [1501839282.831618532] [talker]: Publishing: 'Hello World: 3'
[INFO] [1501839282.835336782] [listener]: I heard: [Hello World: 3]
# ros2 run demo_nodes_py listener &
# ros2 run demo_nodes_py talker
7. Common Compilation Bugs That Have Been Fixed
7.1 Insufficient Memory of Compilation Host
Swap space can be enabled, such as zram:
sudo -i su
# modprobe zram
# echo 12G > /sys/block/zram0/disksize
# echo 6G > /sys/block/zram0/mem_limit
# mkswap /dev/zram0
# swapon /dev/zram0
# free -h
total used free shared buff/cache available
Mem: 14Gi 3.9Gi 5.5Gi 27Mi 5.4Gi 10Gi
Swap: 11Gi 2.7Gi 9.3Gi
7.2 Reports `GLIBCXX_3.4.30’ not found When running on the board
root@rk3562-buildroot:/opt/ros-foxy# ros2 run demo_nodes_cpp talker
/opt/ros-foxy/lib/demo_nodes_cpp/talker: /lib/libstdc++.so.6: version
`GLIBCXX_3.4.30' not found (required by /opt/ros-foxy/lib/librclcpp.so)
/opt/ros-foxy/lib/demo_nodes_cpp/talker: /lib/libstdc++.so.6: version
`GLIBCXX_3.4.30' not found (required by /opt/ros-foxy/lib/libspdlog.so.1)
Because there are many versions of RK Linux SDK and the tool chain version is constantly being updated, it is necessary to use the Linux SDK cross tool for compiling Rootfs to compile ROS2.
7.3 There is x86_64 Dynamic Library in the Compilation Result
ls /opt/ros/lib/python3.10/site-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so
There are indeed some known issues with pybind11 in a cross-compilation environment: The python is the executable file on the HOST side, so a series of parameters are also generated based on the HOST side, such as:
PYTHON_MODULE_EXTENSION:INTERNAL=.cpython-310-x86_64-linux-gnu.so
In the newer code of pybind11/tools/FindPythonLibsNew.cmake , it is recommended that if it is Cross Compling, you can manually add python parameters externally. Based on this,
-
Modify pybind11 in src/ros2/pybind11_vendor to upgrade to v2.10.2
-
And set the following 2 parameters in pybind11_verdor/CMakeLists.txt to specify the detailed PYTHON_MODULE_EXTENSION:
list(APPEND extra_cmake_args "-DPYBIND11_PYTHONLIBS_OVERWRITE=OFF")
list(APPEND extra_cmake_args "-DPYTHON_MODULE_EXTENSION=.cpython-310-aarch64-linux-gnu.so")
- In cross-compile.mixin, also need to declare:
- "-DPYBIND11_PYTHONLIBS_OVERWRITE=OFF"
- "-DPYTHON_MODULE_EXTENSION=.cpython-310-aarch64-linux-gnu.so"
After the above modifications, it was still found that when rclpy was compiled, the PYTHON_MODULE_EXTENSION obtained in the CMakeCache.txt still pointed to “x86_64”, but when it was compiled again for the second time, it would be modified to the expected aarch64. The reason is:
- In pybind11/tools/pybind11NewTools.cmake , if PYBIND11_PYTHON_EXECUTABLE_LAST has not been set, or its value has been modified, PYTHON_MODULE_EXTENSION will be cleared directly
76 if(NOT ${_Python}_EXECUTABLE STREQUAL PYBIND11_PYTHON_EXECUTABLE_LAST)
77 # Detect changes to the Python version/binary in subsequent CMake runs, and refresh config if needed
78 unset(PYTHON_IS_DEBUG CACHE)
79 unset(PYTHON_MODULE_EXTENSION CACHE)
80 set(PYBIND11_PYTHON_EXECUTABLE_LAST
81 "${${_Python}_EXECUTABLE}"
82 CACHE INTERNAL "Python executable during the last CMake run")
83 endif()
-
There is a similar case in pybind11 issue #236
-
Solution: Modify pybind11: If PYBIND11_PYTHONLIBS_OVERWRITE = “OFF”, the above parameters will not be reset:
commit f7f1f2a927dd785d109833e411325de4c248719f (HEAD -> v2.10.2-fix)
Author: cross-build for rk-linux-sdk <cross-build@rk-linux-sdk.com>
Date: Fri Sep 22 08:24:58 2023 +0000
Do not override the PYTHON_MODULE_EXTENSION if cross building
As suggested in tools/FindPythonLibsNew.cmake,
PYBIND11_PYTHONLIBS_OVERWRITE is a flag to indicate that we set python variables
manually when cross building.
In this case, do not override variables if PYBIND11_PYTHON_EXECUTABLE_LAST
changed or is empty.
diff --git a/tools/pybind11NewTools.cmake b/tools/pybind11NewTools.cmake
index 7d7424a7..91980dad 100644
--- a/tools/pybind11NewTools.cmake
+++ b/tools/pybind11NewTools.cmake
@@ -73,7 +73,7 @@ if(NOT DEFINED ${_Python}_EXECUTABLE)
endif()
-if(NOT ${_Python}_EXECUTABLE STREQUAL PYBIND11_PYTHON_EXECUTABLE_LAST)
+if(NOT ${_Python}_EXECUTABLE STREQUAL PYBIND11_PYTHON_EXECUTABLE_LAST AND NOT PYBIND11_PYTHONLIBS_OVERWRITE STREQUAL "OFF")
# Detect changes to the Python version/binary in subsequent CMake runs, and refresh config if needed
unset(PYTHON_IS_DEBUG CACHE)
unset(PYTHON_MODULE_EXTENSION CACHE)
7.4 The google_benchmark Project Is Missing the Limits Header File
When compiling foxy, the following error will be reported:
In file included from /buildroot/build/ros/google_benchmark_vendor/benchmark-1.5.2-prefix/src/benchmark-1.5.2/src/benchmark_register.cc:15:
/buildroot/build/ros/google_benchmark_vendor/benchmark-1.5.2-prefix/src/benchmark-1.5.2/src/benchmark_register.h: In function ‘typename
std::vector<T>::iterator benchmark::internal::AddPowers(std::vector<T>*, T, T,
int)’:
/buildroot/build/ros/google_benchmark_vendor/benchmark-1.5.2-prefix/src/benchmark-1.5.2/src/benchmark_register.h:22:30: error:
‘numeric_limits’ is not a member of ‘std’
22 | static const T kmax = std::numeric_limits<T>::max();
| ^~~~~~~~~~~~~~
The reason is missing header files:
/buildroot/build/ros/google_benchmark_vendor/benchmark-1.5.2-prefix/src/benchmark-1.5.2/src/benchmark_register.h
#include <limits>
This modification has been fixed in the newer version of ROS2; the patch package is also included
7.5 _FORTIFY_SOURCE is Defined in the Linux SDK Tool Chain
--- stderr: mimick_vendor
Cloning into 'mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039'...
fatal: unable to access 'https://github.com/ros2/Mimick.git/': gnutls_handshake()
failed: Error in the pull function.
Cloning into 'mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039'...
HEAD is now at f171450 Add armv7l as a 32-bit ARM architecture. (#16)
In file included from /opt/aarch64-buildroot-linux-gnu_sdk-buildroot/aarch64-buildroot-linux-gnu/sysroot/usr/include/errno.h:25,
from /buildroot/build/ros/mimick_vendor/mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039-prefix/src/mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039/include/mimick/mock.h:27,
from /buildroot/build/ros/mimick_vendor/mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039-prefix/src/mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039/include/mimick/mimick.h:401,
from /buildroot/build/ros/mimick_vendor/mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039-prefix/src/mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039/sample/strdup/test.c:1:
/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/aarch64-buildroot-linux-gnu/sysroot/usr/include/features.h:412:4: error: #warning _FORTIFY_SOURCE
requires compiling with optimization (-O) [-Werror=cpp]
412 | # warning _FORTIFY_SOURCE requires compiling with optimization (-O)
| ^~~~~~~
cc1: all warnings being treated as errors
make[5]: *** [sample/strdup/CMakeFiles/strdup_test.dir/build.make:63:
sample/strdup/CMakeFiles/strdup_test.dir/test.c.o] Error 1
make[4]: *** [CMakeFiles/Makefile2:302:
sample/strdup/CMakeFiles/strdup_test.dir/all] Error 2
make[4]: *** Waiting for unfinished jobs....
In file included from /opt/aarch64-buildroot-linux-gnu_sdk-buildroot/aarch64-buildroot-linux-gnu/sysroot/usr/include/errno.h:25,
from /buildroot/build/ros/mimick_vendor/mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039-prefix/src/mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039/include/mimick/mock.h:27,
from /buildroot/build/ros/mimick_vendor/mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039-prefix/src/mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039/include/mimick/mimick.h:401,
from /buildroot/build/ros/mimick_vendor/mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039-prefix/src/mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039/test/test.c:1:
/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/aarch64-buildroot-linux-gnu/sysroot/usr/include/features.h:412:4: error: #warning _FORTIFY_SOURCE
requires compiling with optimization (-O) [-Werror=cpp]
412 | # warning _FORTIFY_SOURCE requires compiling with optimization (-O)
| ^~~~~~~
cc1: all warnings being treated as errors
The error is reported only when -DCMAKE_TOOLCHAIN_FILE=”/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/share/buildroot/toolchainfile.cmake” cross tool chain is specified, and the cmake defines _FORTIFY_SOURCE CMAKE_TOOLCHAIN_FILE can be left unspecified, or delete _FORTIFY_SOURCE
7.6 Cannot Find exlibConfig.cmake in CMake
Compiling ament_cmake_vendor_package reports that exlib cannot be found, but in fact the exlib library is specified correctly.
root@db4be0cd3eca:/buildroot/build/ros/ament_cmake_vendor_package/test# make
[ 33%] Built target exlib_bad
[ 66%] Built target exlib_good
[ 71%] Performing configure step for 'depender'
loading initial cache file
/buildroot/build/ros/ament_cmake_vendor_package/test/depender-config.cmake
CMake Error at CMakeLists.txt:4 (find_package):
By not providing "Findexlib.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "exlib", but
CMake did not find one.
Could not find a package configuration file provided by "exlib" with any of
the following names:
exlibConfig.cmake
exlib-config.cmake
Add the installation prefix of "exlib" to CMAKE_PREFIX_PATH or set
"exlib_DIR" to a directory containing one of the above files. If "exlib"
provides a separate development package or SDK, be sure it has been
installed.
# strace make 可以看到：
[pid 458018] newfstatat(AT_FDCWD, "/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/aarch64-buildroot-linux-gnu/sysroot/buildroot/build/ros/ament_cmake_vendor_package/test/exlib_bad-prefix/install", 0x7ffca495cf50, 0) = -1 ENOENT (No such file or directory)
# ：
# grep CMAKE_PREFIX_PATH depender-config.cmake
set(CMAKE_PREFIX_PATH [=[/buildroot/build/ros/ament_cmake_vendor_package/test/exlib_bad-prefix/install;/buildroot/build/ros/ament_cmake_vendor_package/test/exlib_good-prefix/install;/buildroot/build/ros/ament_cmake_vendor_package/test/depender-prefix/install]=] CACHE INTERNAL "")
它去找了Toolchain⽬录下的sysroot/$CMAKE_PREFIX_PATH，所以找不到。
The CMAKE_PREFIX_PATH setting is correct and it is a path containing the exlib library Through strace make , you can see that the path actually found by the tool chain is incorrect, and /opt/aarch64-buildroot-linux-gnu_sdk-buildroot/aarch64-buildroot-linux-gnu/sysroot/ is added. Reason: The parameter –cmake-args -DCMAKE_TOOLCHAIN_FILE=”/opt/aarch64- buildroot-linux-gnu_sdk-buildroot/share/buildroot/toolchainfile.cmake” is specified in the colcon command. This setting is different from the export environment variable and the compilation tool chain set in mimix, which leads to this problem.
7.7 pkg-config is Not Found
Starting >>> tracetools
--- stderr: tracetools
CMake Error at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:230(message):
Could NOT find PkgConfig (missing: PKG_CONFIG_EXECUTABLE)
Reason given by package: The command
"/usr/bin/pkg-config" --version
failed with output:
stderr:
/usr/bin/pkg-config: symbol lookup error: /usr/bin/pkg-config: undefined
symbol: pkgconf_cross_personality_deinit
result:
127
Call Stack (most recent call first):
/usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:594
(_FPHSA_FAILURE_MESSAGE)
/usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:99
(find_package_handle_standard_args)
CMakeLists.txt:35 (find_package)
First, pkgconf (not pkg-config) should be installed in docker, which will be used by pkg_check_modules() in cmake. If pkgconf is also compiled in the Linux SDK, host-pkgconf will also be compiled. Because it is different from the pkgconf version of docker, when searching for the pkgconf.so dynamic library, the host pkgconf.so compiled by buildroot is found, so it fails.
7.8 PKG_CONFIG_PATH Needs to Be Set
When compiling src/ros2/ros2_tracing/tracetools/ , specifies in the CMakeLists.txt:
pkg_check_modules(LTTNG REQUIRED lttng-ust)
Compilation error:
Starting >>> tracetools
--- stderr: tracetools
CMake Error at /usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:611 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:833
(_pkg_check_modules_internal)
CMakeLists.txt:36 (pkg_check_modules)
Using strace -f to capture logs, it was found that the search did not occur within the sysroot of the Linux SDK, resulting in an error. The environment variable needs to be set: export PKG_CONFIG_PATH=/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/usr/lib/pkgconfig In another case, pkg-config found lttng within Docker instead of the target, resulting in the following error:
Starting >>> tracetools
--- stderr: tracetools
/usr/lib/gcc-cross/aarch64-linux-gnu/11/../../../../aarch64-linux-gnu/bin/ld:
cannot find -llttng-ust-common: No such file or directory
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/tracetools.dir/build.make:129: libtracetools.so] Error
1
gmake[1]: *** [CMakeFiles/Makefile2:161: CMakeFiles/tracetools.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2
---
Failed <<< tracetools [4.72s, exited with code 2]
As the detected lttng within Docker has a different version from the one in Buildroot,The declaration of the former ttng-ust.pc needs to link to lttng-ust-common. However, the lttng-ust-common library is missing in Buildroot. Similarly, the environment variable needs to be set: export PKG_CONFIG_PATH=/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/usr/lib/pkgconfig . This parameter has already been specified in the compilation script. It is not necessary to install the lttng package in Docker.
7.9 Setting CMAKE_INCLUDE_PATH is required
Starting >>> orocos_kdl_vendor
--- stderr: orocos_kdl_vendor
Cloning into 'orocos_kdl-507de66'...
done.
HEAD is now at 507de66 Fix CMake warning on Windows (#392)
Submodule 'python_orocos_kdl/pybind11' (https://github.com/pybind/pybind11.git)
registered for path 'python_orocos_kdl/pybind11'
Cloning into '/buildroot/build/ros/orocos_kdl_vendor/orocos_kdl-507de66-prefix/src/orocos_kdl-507de66/python_orocos_kdl/pybind11'...
CMake Error: The following variables are used in this project, but they are set
to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake
files:
EIGEN3_INCLUDE_DIR (ADVANCED)
Because the include file paths generated during the Linux SDK compilation process need to be specified separately, otherwise cmake cannot locate them, as shown below:
export CMAKE_INCLUDE_PATH='/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/usr/include/'
This parameter has been specified in the compilation script
7.10 Unsafe Header/Library Used in Cross-compilation
--- stderr: action_msgs
aarch64-buildroot-linux-gnu-gcc: WARNING: unsafe header/library path used in
cross-compilation: '-isystem' '/usr/local/lib/python3.10/dist-packages/numpy/core/include'
During cross-compilation, Python uses the /usr/bin/python of the host. When numpy/numpyconfig.h cannot be found, the following method of obtaining the include directory cannot accurately get the path for the target board:
# Check if numpy is in the include path
find_file(_numpy_h numpy/numpyconfig.h
PATHS ${PythonExtra_INCLUDE_DIRS}
)
if(APPLE OR WIN32 OR NOT _numpy_h)
# add include directory for numpy headers
set(_python_code
"import numpy"
"print(numpy.get_include())"
)
After clarifying that the search path is defined by PythonExtra_INCLUDE_DIRS , The definition of finding the parameter in pybind11 is from PYTHON_INCLUDE_DIR. As it is cross-compiling, this value can be pre-set in the cross_compile.mimix file. This parameter has already been specified in the compilation script and multiple directory can be specified
8. Areas for Improvement
8.1 Removal of Unnecessary Installation Files
For instance, cmake, header files, static libraries, etc., which can be installed into the sysroot directory.
8.2 The arm32-bit rootfs in the Linux SDK Does Not Yet Support ROS2 Compilation
9. Reference Index
-
https://docs.ros.org/en/foxy/Guides/Cross-compilation.html
-
https://github.com/ros-tooling/cross_compile.git
-
https://docs.ros.org/en/foxy/Releases.html