Question

Hello guys, I'm trying to cross compile ROS2 for a Raspberry pi 3, my platform is Ubuntu on x86. I use this tutorial link text , when I did the last step ''Trigger a build'', it shows the error blow:

Starting >>> sqlite3_vendor
--- stderr: tinyxml2_vendor
CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find TinyXML2 (missing: TINYXML2_LIBRARY TINYXML2_INCLUDE_DIR)
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
  cmake/Modules/FindTinyXML2.cmake:24 (find_package_handle_standard_args)
  CMakeLists.txt:6 (find_package)


---
Failed   <<< tinyxml2_vendor    [ Exited with code 1 ]
Finished <<< ament_pep257 [1.44s]
[5.297s] ERROR:asyncio:Task exception was never retrieved
future: <Task finished coro=<_fd2callback() done, defined at /usr/lib/python3/dist-packages/colcon_core/subprocess.py:220> exception=RuntimeError('cannot reuse already awaited coroutine',)>
RuntimeError: cannot reuse already awaited coroutine
[5.297s] ERROR:asyncio:Task exception was never retrieved
future: <Task finished coro=<_fd2callback() done, defined at /usr/lib/python3/dist-packages/colcon_core/subprocess.py:220> exception=RuntimeError('cannot reuse already awaited coroutine',)>
RuntimeError: cannot reuse already awaited coroutine
Aborted  <<< gmock_vendor
Aborted  <<< fastrtps
Aborted  <<< sqlite3_vendor
Aborted  <<< osrf_pycommon
Aborted  <<< ament_cmake_core
Aborted  <<< ament_pep8

Summary: 9 packages finished [5.56s]
  1 package failed: tinyxml2_vendor
  6 packages aborted: ament_cmake_core ament_pep8 fastrtps gmock_vendor osrf_pycommon sqlite3_vendor
  1 package had stderr output: tinyxml2_vendor
  181 packages not processed

I checked and this package libtinyxml2-devpackage is already installed.

DO you have any idea about how to solve this issue ? Thank you a lot!

Asked by stella on 2019-07-26 10:20:12 UTC

Answer 1

The instructions you linked are old. The current up-to-date cross-compilation instructions for ROS2 can be found here https://index.ros.org/doc/ros2/Tutorials/Cross-compilation/

However, both the old as well as the new ones, are meant for ARM64 platforms and they can't be directly used for RaspberryPi. There are several issues cross-compiling for RaspberryPi.

I have collected some instructions here (they should be easy to follow, in case let me know). https://github.com/alsora/cross_compile/tree/alsora/refactor_cross_compile

Your problem can be solved by installing in the sysroot the following package

sudo apt-get install -y libtinyxml2-dev

If the package is already installed, make sure that you are using a correct compiler (g++-6-arm-linux-gnueabihf is the one that works for me) and that you are providing the path to where the library is installed to the toolchain.

Asked by alsora on 2019-07-29 13:44:42 UTC

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Thank you alsora, I think the problem is cmake didn’t setup the right path for the libtinyxml2-dev, do you have any idea aboout this?

Asked by stella on 2019-07-30 09:56:41 UTC

I need more information about your configuration in order to answer... Assuming that your raspberryPi sysroot is placed at ~/sysroot and that the library is in ~/sysroot/usr/lib then it should be found automatically when setting the sysroot path in the toolchain.cmake file like this: set(CMAKE_SYSROOT ~/sysroot).

I suggest you to follow the instructions that I linked as these work fine

Asked by alsora on 2019-07-31 06:28:16 UTC

cross compile ROS2 on raspberry pi3

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