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cross-compile diamondback ROS for Nao 1.10 issues...

asked 2011-08-17 02:38:28 -0600

Nick Armstrong-Crews gravatar image

updated 2011-08-17 03:01:41 -0600

AHornung gravatar image

Trying to follow instructions at http://www.ros.org/wiki/nao/Tutorials/Cross-Compiling#A1.10.2B-_and_Diamondback

Not exactly sure how to interleave 1.10 instructions with original instructions... that might be the issue.

In addition to some minor obstacles (detailed below), I was ultimately stymied by not being able to build apr-util (could not link to crti.o)

Help!

Thanks,

-Nick


Setup is Ubuntu 10.10, Nao H25 and nao-cross-toolchain 1.10.52 ( note to others: toolchain is not in the SDK, and is hard to find on new web page, but here's a link: http://users.aldebaran-robotics.com/index.php?option=com_docman&task=cat_view&gid=50 )

Notes:

  • needed libmpfr1ldbl package as a prerequisite ( sudo apt-get install libmpfr1ldbl )
  • (9.4) Get rosinstall file:
  • (9.7) Patch rosbuild - with what patch?
  • (9.8) Compile ROS - doesn't this require apr, etc. to be built first? my build complained...
  • (4) Cross-compiling of non-ROS modules:
    • apr and apr-util have new versions; I just grabbed the latest ones listed at http://www.powertech.no/apache/dist/apr/
    • As predicted, upon building apr-util, I got error: "cross/geode/bin/../lib/gcc/i586-linux/4.3.3/../../../../i586-linux/bin/ld: crti.o: No such file: No such file or directory" ; however, copying files into /home/opennao/opennao-1-4-x/build/tmp/ did not work. I noticed (via grep) that the nao cross toolchain referred to 1-9-x, so I tried that path instead, but to no avail.
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answered 2011-08-17 03:15:28 -0600

daniel_maier gravatar image

Hi!

The patch is under attachments, I added a link to the wiki page. You should not need to mix the old instructions with the new ones. The main focus of the old tutorial was to get apr and log4cxx running. This is not necessary anymore with newer naoqi releases as it comes with apr precompiled. The hack with copying the toolchain to /home/opennao-xxx is not necessary anymore (unless you want to compile apr,etc.). What's the error when trying to build ROS?

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answered 2011-08-22 00:45:54 -0600

Nick Armstrong-Crews gravatar image

Thanks! Was able to build ROS after patching.

Note that diamondback bullet did not patch successfully with the tarball from your tutorial page, but it was easy to see the required change and do it manually.

Also, tf/bullet instructions point to setup.sh in the wrong place (should be $TARGETDIR/ros/diamondback/setup.sh)

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Hi.I have a question, after your successful ROS compile, did you manage to roscd tf?

ryann2k1 gravatar imageryann2k1 ( 2012-08-01 17:42:58 -0600 )edit

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Asked: 2011-08-17 02:38:28 -0600

Seen: 271 times

Last updated: Aug 22 '11