第一篇：rk1808编译buildroot,增加ros支持问题

突然心血来潮，想在rk1808中跑ros,当前 rk1808跑的是buildroot编译的精简linux系统，也不想换debian9，就开始痛苦的过程…………

在rockchip_rk1808_defconfig文件中增加ros_kinetic.config（这个是按照官方的rk3399编译ros时一样的操作），然后就会遇到经典的问题：

error: option --single-version-externally-managed not recognized

很坑的问题，我卡在这两三天，网上说是安装setuptools,wheel什么的，都没啥用，这个问题是python-empy-3.3.3，在配置时使用setuptools进行安装，但是这个版本的setup.py文件，是使用distutils来安装的，所以要在配置文件python-empy.mk中修改安装方式：

################################################################################
#
# python-empy
#
################################################################################

PYTHON_EMPY_VERSION = 3.3.3
PYTHON_EMPY_SITE = http://www.alcyone.com/software/empy
PYTHON_EMPY_SOURCE = empy-$(PYTHON_EMPY_VERSION).tar.gz
PYTHON_EMPY_LICENSE = LGPL-3.0
PYTHON_EMPY_LICENSE_FILES = LICENSE.txt
#PYTHON_EMPY_SETUP_TYPE = setuptools

PYTHON_EMPY_SETUP_TYPE = distutils
$(eval $(host-python-package))

编译过程中，遇到tinyxml2问题：

[module] calib_xml
In file included from calibdb.cpp:26:0:
/files/tools/rk1808-tb-96aiot-sdk-codes20200605/rk1808gitgithub/buildroot/output/rockchip_rk1808/build/camera_engine_rkisp-1.0/rkisp/ia-engine/calib_xml/../include/calib_xml/calibdb.h:21:22: fatal error: tinyxml2.h: No such file or directory
 #include <tinyxml2.h>

提示找不到tinyxml2.h头文件，是由于IS_NEED_COMPILE_TINYXML2为false，不编译tinyxml2组件导致，查找：camera_engine_rkisp.mk文件，

ifeq ($(BR2_PACKAGE_TINYXML2),y)
CAMERA_ENGINE_RKISP_CONF_OPTS = \
                        IS_NEED_COMPILE_TINYXML2=false
endif

改成：

ifeq ($(BR2_PACKAGE_TINYXML2),y)
CAMERA_ENGINE_RKISP_CONF_OPTS = \
                        IS_NEED_COMPILE_TINYXML2=true
endif

pyparsing问题，提示如下：

ImportError: "from catkin_pkg.package import parse_package" failed: No module named pyparsing!
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.
CMake Error at cmake/safe_execute_process.cmake:11 (message):

原因是没有安装pyparsing组件至host，解决方式是把pyparsing安装到host即可，修改的地方如下：

１.在package/python-pyparsing/中增加Config.in.host,文件内容为(我复制catkin_pkg的文件内容然后 修改的)：

config BR2_PACKAGE_HOST_PYTHON_PYPARSING
	bool "pyparsing host tool for ROS"
    depends on BR2_PACKAGE_PYTHON_ROS_SET
	select BR2_PACKAGE_HOST_PYTHON_CATKIN_PKG
	help
		A CMake-based build system that is used to build all packages in ROS

2.在 python-pyparsing.mk文件中增加：

$(eval $(host-python-package))

3.添加至列表文件Config.in.host,这个文件在buildroot/package/里，添加最后一行：

source "package/python-pyparsing/Config.in.host"

4.在package/rockchip/ros/catkin/文件夹，修改Config.in.host文件：

config BR2_PACKAGE_HOST_CATKIN
	bool "catkin host tool for ROS"
    depends on BR2_PACKAGE_PYTHON_ROS_SET
	select BR2_PACKAGE_HOST_PYTHON_CATKIN_PKG
	select BR2_PACKAGE_HOST_PYTHON_PYPARSING
	select BR2_PACKAGE_HOST_PYTHON_EM
	select BR2_PACKAGE_HOST_PYTHON_EMPY
	help
		A CMake-based build system that is used to build all packages in ROS

增加依赖：select BR2_PACKAGE_HOST_PYTHON_PYPARSING，当然，要的config/ros_kinetic.config里增加BR2_PACKAGE_HOST_PYTHON_PYPARSING=y

再build.sh就可以通过了。

catkin安装位置问题，catkin安装时，是直接安装到host/opt/ros中的，正确的应该是host/aarch……/sysroot/opt/ros中，修改catkin.mk:

#HOST_CATKIN_CONF_OPTS += -DCMAKE_INSTALL_PREFIX=$(HOST_DIR)$(CATKIN_ROS_DIR)
HOST_CATKIN_CONF_OPTS += -DCMAKE_INSTALL_PREFIX=$(STAGING_DIR)$(CATKIN_ROS_DIR)

em问题，提示如下：

output/rockchip_rk1808/host/bin/python: can't find '__main__' module in '/files/tools/rk1808-tb-96aiot-sdk-codes20200605/rk1808gitgithub/buildroot/output/rockchip_rk1808/host/lib/python2.7/site-packages/em'
CMake Error at cmake/safe_execute_process.cmake:11 (message):

原因是由于执行了em文件夹，没有执行对应的em.py文件，临时处理方式：

查找文件：empy.cmake,修改37行为：

  #set(EMPY_SCRIPT "${EMPY_SCRIPT}" CACHE STRING "Empy script" FORCE)
  set(EMPY_SCRIPT "${EMPY_SCRIPT}.py" CACHE STRING "Empy script" FORCE)

强制增加文件名，编译通过。

然后 ，错误又来了：

CMake Error at /files/tools/rk1808-tb-96aiot-sdk-codes20200605/rk1808gitgithub/buildroot/output/rockchip_rk1808/host/aarch64-buildroot-linux-gnu/sysroot/opt/ros/kinetic/share/cpp_common/cmake/cpp_commonConfig.cmake:148 (message):
  Project 'rostime' tried to find library '-lpthread'.  The library is
  neither a target nor built/installed properly.  Did you compile project
  'cpp_common'? Did you find_package() it before the subdirectory containing
  its code is included?
Call Stack (most recent call first):
  /files/tools/rk1808-tb-96aiot-sdk-codes20200605/rk1808gitgithub/buildroot/output/rockchip_rk1808/host/aarch64-buildroot-linux-gnu/sysroot/opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
  CMakeLists.txt:4 (find_package)

此类的错误，是由于cmake文件里使用find_package(catkin …… cpp_common)这样的字样，(两天后新发现，这个问题是cpp_commonConfig.cmake里的错误，找到：set(libraries "cpp_common;，里面应该 有个-l-lpthread的内容，把这里替换成libpthread.so所在的绝对路径，就OK了！），后面在class_loader里出现这个错误：

CMake Error at devel/share/class_loader/cmake/class_loaderConfig.cmake:148 (message):
  Project 'class_loader' tried to find library '-lpthread'.  The library is
  neither a target nor built/installed properly.  Did you compile project
  'class_loader'? Did you find_package() it before the subdirectory
  containing its code is included?

这里的class_loaderConfig.cmake为编译时自动生成，没办法修改后再编译（修改后编译时会重新生成），输出调试信息，发现是boost_libraries这个变量里包含了"-lpthread"，现在就是想办法把boost中的“-lpthread"修改成"pthread"（因为cpp_common之类的库中都引用了boost，可能之前的这个问题就是由于boost引起的），但是boost没有 Config.cmake类的文件，然后就卡在这里……,晚上12点，找到FindBoost.cmake了，这个文件其实在本机/usr/local/share/cmake-{version}/Modules/里，对应的代码：

# Report Boost_LIBRARIES
set(Boost_LIBRARIES "")
foreach(_comp IN LISTS Boost_FIND_COMPONENTS)
  string(TOUPPER ${_comp} _uppercomp)
  if(Boost_${_uppercomp}_FOUND)
    list(APPEND Boost_LIBRARIES ${Boost_${_uppercomp}_LIBRARY})
    if(_comp STREQUAL "thread")
      list(APPEND Boost_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
    endif()
  endif()
endforeach()

看到这个if了不：

if(_comp STREQUAL "thread")
      list(APPEND Boost_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
    endif()

在外部输出：CMAKE_THREAD_LIBS_INIT，值就是-lpthread。

来个粗暴的操作：

# Report Boost_LIBRARIES
set(Boost_LIBRARIES "")
foreach(_comp IN LISTS Boost_FIND_COMPONENTS)
  string(TOUPPER ${_comp} _uppercomp)
  if(Boost_${_uppercomp}_FOUND)
    list(APPEND Boost_LIBRARIES ${Boost_${_uppercomp}_LIBRARY})
    if(_comp STREQUAL "thread")
#      list(APPEND Boost_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
      list(APPEND Boost_LIBRARIES "pthread")
    endif()
  endif()
endforeach()

编译通过……（这个问题应该是搞了三天，好久没这么苦逼了……）

ps:这个Boost的版本是1.66.0的，不知道是不是个bug，白天到公司，看了一下环境，cmake-3.10中的FindBoost.cmake，对应的代码是正确的：

# ------------------------------------------------------------------------
#  Notification to end user about what was found
# ------------------------------------------------------------------------

set(Boost_LIBRARIES "")
if(Boost_FOUND)
  if(NOT Boost_FIND_QUIETLY)
    message(STATUS "Boost version: ${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}")
    if(Boost_FIND_COMPONENTS)
      message(STATUS "Found the following Boost libraries:")
    endif()
  endif()
  foreach( COMPONENT  ${Boost_FIND_COMPONENTS} )
    string( TOUPPER ${COMPONENT} UPPERCOMPONENT )
    if( Boost_${UPPERCOMPONENT}_FOUND )
      if(NOT Boost_FIND_QUIETLY)
        message (STATUS "  ${COMPONENT}")
      endif()
      list(APPEND Boost_LIBRARIES ${Boost_${UPPERCOMPONENT}_LIBRARY})
    endif()
  endforeach()

还有错，编译 std-msgs时，提示错误：

    interpreter = em.Interpreter(output=ofile, globals=g, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
AttributeError: 'module' object has no attribute 'Interpreter'

这个时候，到host/lib/python2.7/site-packages/下删除em相关的文件夹和egg.info,这里注意，em.py和em.pyc两个文件不要删除。如果这里还有问题，那就是可能 empy并没有安装成功，因为cat empy-3.3.3-py2.7.egg-info时，内容是错误的，是因为emlib.py不存在，要把setup.py中的emlib删除掉。再压缩成empy-3.3.3.tar.gz，./build.sh,然后 就是重新解压……安装。这样操作后，这个egg-info里就是正常的内容了。

好了，之前修改empy.cmake的后遗症来了，编译actionlib-msgs时出错：

  /files/tools/rk1808-tb-96aiot-sdk-codes20200605/rk1808gitgithub/buildroot/output/rockchip_rk1808/host/aarch64-buildroot-linux-gnu/sysroot/opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:20 (include)
  CMakeLists.txt:5 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PY_em: /files/tools/rk1808-tb-96aiot-sdk-codes20200605/rk1808gitgithub/buildroot/output/rockchip_rk1808/host/usr/lib/python2.7/site-packages/em.pyc  
-- Using empy: /files/tools/rk1808-tb-96aiot-sdk-codes20200605/rk1808gitgithub/buildroot/output/rockchip_rk1808/host/usr/lib/python2.7/site-packages/em.pyc.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /files/tools/rk1808-tb-96aiot-sdk-codes20200605/rk1808gitgithub/buildroot/output/rockchip_rk1808/build/actionlib-msgs-1.11.9/actionlib_msgs/test_results
-- Found gtest: gtests will be built
-- Using Python nosetests: /home/cubar/anaconda3/bin/nosetests
-- catkin 0.7.14
CMake Error at CMakeLists.txt:8 (add_message_files):
  Unknown CMake command "add_message_files".


-- Configuring incomplete, errors occurred!

Using empy这里，多了.py，得到

sysroot/opt/ros/kinetic/share/catkin/cmake

里把empy.cmake改回来。

Image: image in rockdev is ready 
Make image ok!
Make update.img
start to make update.img...
Android Firmware Package Tool v1.65
------ PACKAGE ------
Add file: ./package-file
Add file: ./Image/MiniLoaderAll.bin
Add file: ./Image/parameter.txt
Add file: ./Image/trust.img
Add file: ./Image/uboot.img
Add file: ./Image/misc.img
Add file: ./Image/boot.img
Add file: ./Image/recovery.img
Add file: ./Image/rootfs.img
Add file: ./Image/oem.img
Add file: ./Image/userdata.img
Add CRC...
Make firmware OK!
------ OK ------
********RKImageMaker ver 1.66********
Generating new image, please wait...
Writing head info...
Writing boot file...
Writing firmware...
Generating MD5 data...
MD5 data generated successfully!
New image generated successfully!
Making update.img OK.
/tools/rk1808-tb-96aiot-sdk-codes20200605/rk1808gitgithub
Make update image ok!

终于搞定，花了大概一个星期的时间，后面就是刷机，写ROS程序的事了。