https://github.com/mktk1117/ROS_ARM_CROSSCOMPILE
mktk1117 Modified rostoolchain.cmake
Latest commit 430a694 on 24 Jan 2018
| Type | Name | Latest commit message | Commit time |
|---|---|---|---|
| Failed to load latest commit information. | |||
 | config | Made directories | 2 years ago |
| ros_indigo | Modified rostoolchain.cmake | 2 years ago |
| scripts | Add turbojpeg building script | 2 years ago |
| .gitignore | First trial | 2 years ago |
| README.md | Update README.md | 2 years ago |
| arm-toolchain.cmake | First trial | 2 years ago |
README.md
ROS_ARM_CROSSCOMPILE
ROS indigo cross compile for ARM architecture
Install build dependencies
First. you have to install build dependencies. Start with cloning this repositiory.
git clone https://github.com/mktk1117/ROS_ARM_CROSSCOMPILE.git cd ROS_ARM_CROSSCOMPILE source scripts/install_dependencies.sh
Cross compile dependencies
ROS depends on some libraries. You also have to cross compile these libraries. The script cross compiles for ARM architecture by using arm-linux-gnueabihf-gcc or g++.
It compiles
- boost1.55
- OpenCV2.4.9
- bzip2-1.0.6.
- lz4
- console_bridge
- Poco1.8.0.1
- python 2.7
- tinyXML
The script file build_dependencies.sh will cross compile above libraries into ROS_ARM_CROSSCOMPILE/arm-linux.
cd /your workspace/ROS_ARM_CROSSCOMPILE source scripts/build_dependencies.sh
Cross Compile ROS
cd ros_indigo catkin init catkin config --merge-devel # this is important, otherwise you may get weird linking errors catkin config --merge-install catkin config --install catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCROSS_ROOT=/your ws/ROS_ARM_CROSSCOMPILE -DCMAKE_TOOLCHAIN_FILE=/your ws/ROS_ARM_CROSSCOMPILE/ros_indigo/rostoolchain.cmake rosinstall_generator ros_comm common_msgs sensor_msgs image_transport vision_opencv tf --rosdistro indigo --deps --wet-only --tar > ros-indigo-wet.rosinstall wstool init -j8 src ros-indigo-wet.rosinstall cd src git clone https://github.com/catkin/catkin_simple.git git clone https://github.com/mktk1117/glog_catkin.git cd glog_catkin git checkout arm-crosscompile git pull cd ../../ touch src/geometry2/tf2/test/CATKIN_IGNORE # to avoid error touch src/vision_opencv/image_geometry/test/CATKIN_IGNORE touch src/geometry/tf/test/CATKIN_IGNORE touch src/ros_comm/message_filters/test/CATKIN_IGNORE catkin build
Latest commit 430a694 on 24 Jan 2018
| Type | Name | Latest commit message | Commit time |
|---|---|---|---|
| Failed to load latest commit information. | |||
| config | Made directories | 2 years ago |
| ros_indigo | Modified rostoolchain.cmake | 2 years ago |
| scripts | Add turbojpeg building script | 2 years ago |
| .gitignore | First trial | 2 years ago |
| README.md | Update README.md | 2 years ago |
| arm-toolchain.cmake | First trial | 2 years ago |
README.md
ROS_ARM_CROSSCOMPILE
ROS indigo cross compile for ARM architecture
Install build dependencies
First. you have to install build dependencies. Start with cloning this repositiory.
git clone https://github.com/mktk1117/ROS_ARM_CROSSCOMPILE.git cd ROS_ARM_CROSSCOMPILE source scripts/install_dependencies.sh
Cross compile dependencies
ROS depends on some libraries. You also have to cross compile these libraries. The script cross compiles for ARM architecture by using arm-linux-gnueabihf-gcc or g++.
It compiles
- boost1.55
- OpenCV2.4.9
- bzip2-1.0.6.
- lz4
- console_bridge
- Poco1.8.0.1
- python 2.7
- tinyXML
The script file build_dependencies.sh will cross compile above libraries into ROS_ARM_CROSSCOMPILE/arm-linux.
cd /your workspace/ROS_ARM_CROSSCOMPILE source scripts/build_dependencies.sh
Cross Compile ROS
cd ros_indigo catkin init catkin config --merge-devel # this is important, otherwise you may get weird linking errors catkin config --merge-install catkin config --install catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCROSS_ROOT=/your ws/ROS_ARM_CROSSCOMPILE -DCMAKE_TOOLCHAIN_FILE=/your ws/ROS_ARM_CROSSCOMPILE/ros_indigo/rostoolchain.cmake rosinstall_generator ros_comm common_msgs sensor_msgs image_transport vision_opencv tf --rosdistro indigo --deps --wet-only --tar > ros-indigo-wet.rosinstall wstool init -j8 src ros-indigo-wet.rosinstall cd src git clone https://github.com/catkin/catkin_simple.git git clone https://github.com/mktk1117/glog_catkin.git cd glog_catkin git checkout arm-crosscompile git pull cd ../../ touch src/geometry2/tf2/test/CATKIN_IGNORE # to avoid error touch src/vision_opencv/image_geometry/test/CATKIN_IGNORE touch src/geometry/tf/test/CATKIN_IGNORE touch src/ros_comm/message_filters/test/CATKIN_IGNORE catkin build
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