A tool for cross compiling ROS2 packages.
The cross compilation toolchain and docker have to be installed. The following instructions have been tested on Ubuntu Xenial (16.04) and Bionic (18.04).
# Install cross compilation toolchain
sudo apt-get update
sudo apt-get install -y build-essential cmake git wget curl lsb-core bash-completion \
qemu-user-static g++-aarch64-linux-gnu g++-arm-linux-gnueabihf python3-pip htop
sudo python3 -m pip install -U colcon-common-extensions rosdep vcstool
# Also install docker and make it available to the current user
sudo apt-get install -y apt-transport-https ca-certificates curl gnupg-agent software-properties-common
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo apt-key fingerprint 0EBFCD88
sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
sudo apt-get update
sudo apt-get install -y docker-ce
sudo usermod -aG docker $USER
newgrp docker # this reloads the group permissions in the current shell, unnecessary after relogin
docker run hello-worldPlease follow those instructions if you plan to contribute to this repository.
- Install all software dependencies required for ROS 2 development by following the ROS 2 documentation
- Checkout the source code and compile it as follows
mkdir -p ~/ros2_cross_compile_ws/src
cd ros2_cross_compile_ws
# Use vcs to clone all required repositories
curl https://raw.githubusercontent.com/ros2/ros2/dashing/ros2.repos | vcs import src/
curl https://raw.githubusercontent.com/ros-tooling/cross_compile/master/cross_compile.repos | vcs import src/
# Install all required system dependencies
# Some packages may fail to install, this is expected on an unstable branch,
# and is generally OK.
rosdep update
rosdep install -r --rosdistro=eloquent --ignore-packages-from-source --from-paths src/
# Use colcon to compile cross_compile code and all its dependencies
colcon build --packages-up-to cross_compile
# If you use bash or zsh, source .bash or .zsh, instead of .sh
source install/local_setup.shWe need to setup a sysroot directory for the docker artifacts. Docker can only copy from a specific
context so all these assets need to be copied relative to the Dockerfile path.
mkdir sysroot
cd sysroot
# Create a directory to store qemu assets
mkdir qemu-user-static
cp /usr/bin/qemu-* qemu-user-static If you want to cross compile specific local packages:
# Create a directory to store source packages
mkdir -p ros2_ws/src
cp -r <full_path_to_your_ros_ws>/src ros2_ws/src
If you want to cross compile the latest ROS2 release instead of your workspace:
mkdir -p ros2_ws/src
# Get ROS2 sources
wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
vcs import sysroot_creator/scripts/sysroot/ros2_ws/src < ros2.repos In the end your sysroot directory should look like this:
sysroot/
+-- qemu-user-static/
| +-- qemu-*-static
+-- ros2_ws/
+-- src/
|-- (ros2 packages)
+-- ...Then run the tool:
ros2 run cross_compile cross_compile --arch aarch64 --os ubuntu --sysroot-path /directory/with/sysroot You can use the Official Dockerhub ROS Repo to find base images.
You can also use OSRF's Dockerhub Repo to obtain images as well.
This library is licensed under the Apache 2.0 License.
From the ROS2 Cross compilation docs:
The Poco pre-built has a known issue where it is searching for libz and libpcre on the host system instead of SYSROOT. As a workaround for the moment, please link both libraries into the the host’s file-system.
mkdir -p /usr/lib/$TARGET_TRIPLE ln -s `pwd`/sysroot_docker/lib/$TARGET_TRIPLE/libz.so.1 /usr/lib/$TARGET_TRIPLE/libz.so ln -s `pwd`/sysroot_docker/lib/$TARGET_TRIPLE/libpcre.so.3 /usr/lib/$TARGET_TRIPLE/libpcre.so