docker搭建ros-indigo-arm交叉编译环境

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本文详细介绍在ARM环境下编译ROS应用程序的极慢问题，并提供了一种解决方案：通过在x86机器上搭建Docker+ROS交叉编译环境来加速编译过程。文章包括了从ARMubuntu环境安装、Docker配置到rostoolchain.cmake文件调整的全过程。

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《转》

https://www.cnblogs.com/objectDetect/p/5223029.html

ROS运行环境：ARM ubuntu14.04 + ROS indigo
在arm环境下编译ros应用程序，速度极慢，无法忍受，尝试在x86机器上搭建docker+ros交叉编译环境。

交叉编译环境的搭建主要参考：

http://answers.ros.org/question/191070/compile-roscore-for-arm-board/

1 ARM ubuntu环境上安装arm-indigo版本,后面需要将这个arm版本copy到交叉编译环境上
2 x86环境上安装docker
3 下载docker-ros镜像，加载启动docker-ros镜像
4 安装 sudo apt-get install g++-arm-linux-gnueabihf
5 将docker环境中中x86版本的indigo替换成arm版本的indigo,
替换之前需要备份x86版本indigo的lib,因为这些库文件在运行ros时是需要的。
将x86版本indigo的lib保存到localpath目录下，设置export LD_LIBRARY_PATH=localpath，
实现运行ros命令时使用x86的lib库。
6 将arm环境下的库文件/头文件 copy到docker环境中，目录可以自己设定比如：/$ENV{HOME}/cross-compiling/ubuntu-rootfs
7 配置rostoolchain.cmake文件

复制代码

#File rostoolchain.cmake

set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_C_COMPILER /usr/bin/arm-linux-gnueabihf-gcc)
set(CMAKE_CXX_COMPILER /usr/bin/arm-linux-gnueabihf-g++)
set(CMAKE_FIND_ROOT_PATH /opt/ros/indigo $ENV{HOME}/cross-compiling/ubuntu-rootfs)

set(CMAKE_LIBRARY_PATH $ENV{HOME}/cross-compiling/ubuntu-rootfs/usr/lib/arm-linux-gnueabihf $ENV{HOME}/cross-compiling/ubuntu-rootfs/usr/lib $ENV{HOME}/cross-compiling/ubuntu-rootfs/lib $ENV{HOME}/cross-compiling/ubuntu-rootfs/usr/local/lib)

set(CMAKE_INCLUDE_PATH $ENV{HOME}/cross-compiling/ubuntu-rootfs/usr/include $ENV{HOME}/cross-compiling/ubuntu-rootfs/usr/local/include)
set(LD_LIBRARY_PATH $ENV{HOME}/cross-compiling/ubuntu-rootfs/usr/lib/arm-linux-gnueabihf $ENV{HOME}/cross-compiling/ubuntu-rootfs/usr/lib $ENV{HOME}/cross-compiling/ubuntu-rootfs/lib $ENV{HOME}/cross-compiling/ubuntu-rootfs/usr/local/lib)

set(PYTHON_EXECUTABLE /usr/bin/python)
set(PCL_ROOT $ENV{HOME}/cross-compiling/ubuntu-rootfs/usr)

set(CMAKE_CROSSCOMPILING true)
message("${CMAKE_CROSSCOMPILING}")

# Have to set this one to BOTH, to allow CMake to find rospack


set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

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8 修改/opt/ros/indigo/share/catkin/cmake/tools/rt.cmake

该文件的第34行

if(NOT (APPLE OR WIN32 OR MINGW OR ANDROID))修改为if(NOT (APPLE OR WIN32 OR MINGW OR ANDROID OR UNIX))

9 个人理解cmake交叉编译过程就是修改cmake搜索链接库文件位置的过程，正常编译会搜索x86库文件做在位置，
交叉编译需要将搜索位置切换到目标架构需要的库文件存放位置，比如/$ENV{HOME}/cross-compiling/ubuntu-rootfs
实现方法：
修改catkin_INCLUDE_DIRS catkin_LIBRARY_DIRS，将这两个变量中指向x86系统的位置，修改为指向交叉编译依赖文件存放位置
/opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake
这个文件末增加如下处理:

复制代码

list(APPEND catkin_INCLUDE_DIRS ${CMAKE_INCLUDE_PATH})
list(APPEND catkin_LIBRARY_DIRS ${CMAKE_LIBRARY_PATH})

set(catkin_LIBRARIES_tmp ${catkin_LIBRARIES})
set(catkin_LIBRARIES "")
foreach(catkinlib ${catkin_LIBRARIES_tmp})
    string(LENGTH ${catkinlib} lengths)    
    if (${lengths} GREATER 12)
        string(SUBSTRING ${catkinlib} "/" 12 result)
        string(COMPARE EQUAL ${result} "/usr/lib/lib" compareResult)
        if (${compareResult})
            string(REPLACE "/usr/lib/lib" "$ENV{HOME}/cross-compiling/ubuntu-rootfs/usr/lib/lib" result_tem ${catkinlib})
            list(APPEND catkin_LIBRARIES ${result_tem})
        else()
            list(APPEND catkin_LIBRARIES ${catkinlib})
        endif()
    else()
        list(APPEND catkin_LIBRARIES ${catkinlib})
    endif()
endforeach()

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10 编译命令

catkin_make -DCMAKE_TOOLCHAIN_FILE=/$filepath/rostoolchain.cmake

终于搞定了，分享我遇到的主要两个问题（其它还有就是我本地连接问题临了）
1.set(CMAKE_FIND_ROOT_PATH “/opt/ros/indigo /opt/ros_arm/rootfs”)==我多用了引号，正确应该为
set(CMAKE_FIND_ROOT_PATH /opt/ros/indigo /opt/ros_arm/rootfs)
2.
/opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake
替换路径的脚本，由于我的路径时/usr/lib 需要对应修改（注意里面对应的字符串长度是8了，我没注意到，跌坑里了）
list(APPEND catkin_INCLUDE_DIRS ${CMAKE_INCLUDE_PATH})
list(APPEND catkin_LIBRARY_DIRS ${CMAKE_LIBRARY_PATH})

set(catkin_LIBRARIES_tmp ${catkin_LIBRARIES})
set(catkin_LIBRARIES "")
foreach(catkinlib ${catkin_LIBRARIES_tmp})

string(LENGTH ${catkinlib} lengths)
if (${lengths} GREATER 7)
string(SUBSTRING ${catkinlib} "/" 8 result)

string(COMPARE EQUAL ${result} "/usr/lib" compareResult)
if (${compareResult})
string(REPLACE "/usr/lib" "/opt/ros_arm/rootfs/usr/lib" result_tem ${catkinlib})
list(APPEND catkin_LIBRARIES ${result_tem})
else()
list(APPEND catkin_LIBRARIES ${catkinlib})
endif()
else()
list(APPEND catkin_LIBRARIES ${catkinlib})
endif()
endforeach()