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CRAM on an arm processor?

asked 2015-06-11 12:39:54 -0500

rohan gravatar image

Has anyone tried running CRAM on an arm processor? Is it possible? roslisp is supported on ARM but there are multithreading issues with SBCL on arm.

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Two things to keep in mind if you try to build something on ARM:

  1. use "make -j1". This will run with one job and prevent Make from using too much memory if memory is limited.

  2. default char type is signed on x86, but unsigned on ARM. (Workaround for GCC -fsigned-char parameter)

corb gravatar imagecorb ( 2015-06-13 17:49:55 -0500 )edit

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answered 2015-06-15 09:17:58 -0500

rohan gravatar image

Hi,

I got the cram part to build on ARM. I didn't try building knowrob.

The main issue with CRAM running on ARM is that roslisp doesn't support ARM. They depend on SBCL which is available for ARM but the multi threading doesn't work for ARM processor therefore roslisp doesn't work on ARM.

https://github.com/ros/roslisp/issues/14

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"I didn't try building knowrob." - I don't see any reason for building a knowledge processing system on a microcontroller that runs ROS. "multi threading doesn't work for ARM" - Have you built SBCL with -lpthread flag? https://github.com/sbcl/sbcl/blob/mas...

gaya gravatar imagegaya ( 2015-06-15 09:56:36 -0500 )edit

The -lpthread thing is just an idea, I'm not an expert in Lisp on ARM business.

gaya gravatar imagegaya ( 2015-06-15 09:59:21 -0500 )edit

Yes I tried that it didn't help. You can also try --fancy argument when building SBCL but that also doesn't build SBCL with multithreading.

rohan gravatar imagerohan ( 2015-06-15 14:38:49 -0500 )edit
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answered 2015-06-13 06:53:33 -0500

gaya gravatar image

The CRAM team hasn't tried it yet but we do have such plans. Check again later. If you'll be tryinng things out on your own any input is most welcome.

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Asked: 2015-06-11 12:39:54 -0500

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Last updated: Jun 15 '15