aarch64 cross compiling #1282
Comments
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Can you help me? thank you |
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@XQSwx thanks for creating issue. unfortunately, cross-compile is not supported anymore? https://docs.ros.org/en/humble/How-To-Guides/Cross-compilation.html, https://github.com/ros-tooling/cross_compile repo has been archived. |
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"I know that I compiled this using the Buildroot from Rockchip, so I can only work based on this compiled base." |
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Ultimately, there's a bug here, unable to generate cross-compilation chain's link libraries. Only x86 ones can be generated. |
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I just need to add the line 'SUFFIX ".cpython-38-aarch64-linux-gnu.so"' after 'set_target_properties(${_library_name} PROPERTIES', but I've broken the build chain dependency. My understanding of CMake is not very deep. Starting >>> rclpy
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Maybe my understanding is incorrect, I suspect that the CMakeLists file does not match the generation of linked libraries for cross-compilation. |
You are right that it is currently not a supported configuration. Because of that, there may indeed be a bug here. That said, if @XQSwx can find and fix a bug here, we'd be very happy to review a PR to make fixes. |
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Although cross compile is not supported, every compilation passes the cmake parameter. Can we obtain these parameters to generate a linked library. I have compiled all packages for ROS2, and only this package and ROSBAG2 have encountered this issue. Although I used some clever methods to compile it. But if others use this cmakelist, they may still encounter these issues |
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@clalancette |
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Bug report
Required Info:
Ubuntu 22.04
Source code compilation
humble
Steps to reproduce issue
"When cross-compiling with aarch64, it was found that the generated .so file is for the X86 platform instead of aarch64. Other ROS2-generated files are for the aarch64 platform."
Expected behavior
Actual behavior
Additional information
/buildroot/host/aarch64-buildroot-linux-gnu/sysroot /opt/ros/humble
/opt/ros/humble
fetching default: file:///root/index.yaml ...
fetching file:///root/cross-compile.mixin ...
. /root/.colcon/mixin/default/cross-compile.mixin
Starting >>> rclpy
Not searching for unused variables given on the command line.
-- Found ament_cmake: 1.3.8 (/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/share/ament_cmake/cmake)
-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter
-- Found lifecycle_msgs: 1.2.1 (/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/share/lifecycle_msgs/cmake)
-- Found rosidl_generator_c: 3.1.5 (/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/share/rosidl_generator_c/cmake)
-- Found rosidl_adapter: 3.1.5 (/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/share/rosidl_adapter/cmake)
-- Found rosidl_generator_cpp: 3.1.5 (/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/share/rosidl_generator_cpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found rcl: 5.3.7 (/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/share/rcl/cmake)
-- Found rmw_implementation_cmake: 6.1.1 (/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/share/rmw_implementation_cmake/cmake)
-- Found rmw_fastrtps_cpp: 6.2.6 (/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/share/rmw_fastrtps_cpp/cmake)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- Found rcl_action: 5.3.7 (/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/share/rcl_action/cmake)
-- Found rcl_lifecycle: 5.3.7 (/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/share/rcl_lifecycle/cmake)
-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter Development Development.Module Development.Embed
-- Found pybind11_vendor: 2.4.2 (/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/share/pybind11_vendor/cmake)
-- Found pybind11: /buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/include/pybind11_vendor (found version "2.9.1")
-- Found ament_lint_auto: 0.12.10 (/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/share/ament_lint_auto/cmake)
-- Found gtest sources under '/buildroot/host/aarch64-buildroot-linux-gnu/sysroot/opt/src/gtest_vendor': C++ tests using 'Google Test' will be built
-- Added test 'copyright' to check source files copyright and LICENSE
-- Added test 'cpplint' to check C / C++ code against the Google style
-- Configured cpplint exclude dirs and/or files:
-- Added test 'flake8' to check Python code syntax and style conventions
-- Added test 'lint_cmake' to check CMake code style
-- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257
-- Added test 'uncrustify' to check C / C++ code style
-- Configured uncrustify additional arguments:
-- Added test 'xmllint' to check XML markup files
-- Configuring done
-- Generating done
-- Build files have been written to: /buildroot/build/ros/rclpy
Consolidate compiler generated dependencies of target gtest_main
Consolidate compiler generated dependencies of target gtest
Consolidate compiler generated dependencies of target _rclpy_pybind11
[ 5%] Built target gtest_main
[ 10%] Built target gtest
[ 10%] Built target ament_cmake_python_copy_rclpy
Consolidate compiler generated dependencies of target test_python_allocator
[ 16%] Built target test_python_allocator
[ 18%] Linking CXX shared library test_rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so
running egg_info
writing rclpy.egg-info/PKG-INFO
writing dependency_links to rclpy.egg-info/dependency_links.txt
writing top-level names to rclpy.egg-info/top_level.txt
reading manifest file 'rclpy.egg-info/SOURCES.txt'
writing manifest file 'rclpy.egg-info/SOURCES.txt'
[ 18%] Built target ament_cmake_python_build_rclpy_egg
[100%] Built target _rclpy_pybind11
-- Install configuration: ""
-- Up-to-date: /buildroot/target/opt/ros/share/rclpy/environment/pythonpath.sh
-- Installing: /buildroot/target/opt/ros/share/rclpy/environment/pythonpath.dsv
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy-3.3.12-py3.10.egg-info
-- Installing: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy-3.3.12-py3.10.egg-info/SOURCES.txt
-- Installing: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy-3.3.12-py3.10.egg-info/PKG-INFO
-- Installing: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy-3.3.12-py3.10.egg-info/top_level.txt
-- Installing: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy-3.3.12-py3.10.egg-info/dependency_links.txt
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/node.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/validate_topic_name.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/publisher.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/topic_or_service_is_hidden.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/validate_namespace.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/constants.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/logging.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/parameter_service.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/service.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/client.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/subscription.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/timer.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/callback_groups.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/duration.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/qos_overriding_options.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/type_support.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/qos.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/validate_parameter_name.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/signals.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/task.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/expand_topic_name.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/guard_condition.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/time_source.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/qos_event.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/time.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/parameter.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/topic_endpoint_info.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/action
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/action/client.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/action/server.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/action/init.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/action/graph.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/utilities.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/validate_node_name.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/clock.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/init.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/context.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/waitable.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/validate_full_topic_name.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/impl
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/impl/logging_severity.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/impl/rcutils_logger.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/impl/implementation_singleton.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/impl/init.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/lifecycle
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/lifecycle/node.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/lifecycle/publisher.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/lifecycle/init.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/lifecycle/managed_entity.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/executors.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/exceptions.py
-- Up-to-date: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/serialization.py
Listing '/buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy'...
Listing '/buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/action'...
Listing '/buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/impl'...
Listing '/buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/lifecycle'...
-- Installing: /buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so
-- Set runtime path of "/buildroot/target/opt/ros/local/lib/python3.10/dist-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so" to "/buildroot/target/opt/ros:/opt/lib"
-- Up-to-date: /buildroot/target/opt/ros/share/rclpy/environment/library_path.sh
-- Installing: /buildroot/target/opt/ros/share/rclpy/environment/library_path.dsv
-- Up-to-date: /buildroot/target/opt/ros/share/ament_index/resource_index/package_run_dependencies/rclpy
-- Up-to-date: /buildroot/target/opt/ros/share/ament_index/resource_index/parent_prefix_path/rclpy
-- Up-to-date: /buildroot/target/opt/ros/share/rclpy/environment/ament_prefix_path.sh
-- Installing: /buildroot/target/opt/ros/share/rclpy/environment/ament_prefix_path.dsv
-- Up-to-date: /buildroot/target/opt/ros/share/rclpy/environment/path.sh
-- Installing: /buildroot/target/opt/ros/share/rclpy/environment/path.dsv
-- Up-to-date: /buildroot/target/opt/ros/share/rclpy/local_setup.bash
-- Up-to-date: /buildroot/target/opt/ros/share/rclpy/local_setup.sh
-- Up-to-date: /buildroot/target/opt/ros/share/rclpy/local_setup.zsh
-- Installing: /buildroot/target/opt/ros/share/rclpy/local_setup.dsv
-- Installing: /buildroot/target/opt/ros/share/rclpy/package.dsv
-- Up-to-date: /buildroot/target/opt/ros/share/ament_index/resource_index/packages/rclpy
-- Up-to-date: /buildroot/target/opt/ros/share/rclpy/cmake/rclpyConfig.cmake
-- Up-to-date: /buildroot/target/opt/ros/share/rclpy/cmake/rclpyConfig-version.cmake
-- Up-to-date: /buildroot/target/opt/ros/share/rclpy/package.xml
Finished <<< rclpy [21.9s]
Summary: 1 package finished [22.6s]
Feature request
Feature description
Implementation considerations
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