Hi, everyone. Thanks in advanced for any reply.

I'm trying cross compile x86 to ARM with my orocos2.9 toolchains. And it stuck at catkintoolsprebuild stage.

Below is some information for what I do. If need more information, please tell me, thx!

1. host OS : ubuntu14.04
2. target OS : raspbian jessie
3. cmake version 3.2.2
4. cross compiler : https://github.com/raspberrypi/tools
5. I tried USB plugin and copy entire target root both path for CMAKEFINDROOT_PATH variable, and it doesn't work.

rostoolchain.cmake

set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_C_COMPILER /home/hua/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-gcc)
set(CMAKE_CXX_COMPILER /home/hua/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-g++)
set(CMAKE_FIND_ROOT_PATH /home/hua/root) # path to copied root directory
# Have to set this one to BOTH, to allow CMake to find rospack
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM BOTH)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

set(PYTHON_EXECUTABLE /usr/bin/python)
set(NOSETESTS /usr/bin/nosetests-2.7)

set(CMAKE_CROSSCOMPILING true)

#############################################################
# Cross-compilation loader
#
# This file is passed to cmake on the command line via
# -DCMAKE_TOOLCHAIN_FILE.
#############################################################
# look for user's toolchain file in $ROS_ROOT/rostoolchain.cmake
find_file(TOOLCHAINCONFIG
          rostoolchain.cmake
          PATHS ENV ROS_ROOT
          NO_DEFAULT_PATH)
if(TOOLCHAINCONFIG)
  include(${TOOLCHAINCONFIG})
endif(TOOLCHAINCONFIG)
#############################################################

build.cmake.log at logs/catkintoolsprebuild

Not searching for unused variables given on the command line.
The C compiler identification is GNU 4.8.3
The CXX compiler identification is GNU 4.8.3
Check for working C compiler: /home/hua/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-gcc
Check for working C compiler: /home/hua/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-gcc -- works
Detecting C compiler ABI info
Detecting C compiler ABI info - done
Detecting C compile features
Detecting C compile features - done
Check for working CXX compiler: /home/hua/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-g++
Check for working CXX compiler: /home/hua/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-g++ -- works
Detecting CXX compiler ABI info
Detecting CXX compiler ABI info - done
Detecting CXX compile features
Detecting CXX compile features - done
Using CATKIN_DEVEL_PREFIX: /home/hua/orocos-2.9_ws/devel/.private/catkin_tools_prebuild
Using CMAKE_PREFIX_PATH: /opt/ros/indigo
This workspace overlays: /opt/ros/indigo
Found PythonInterp: /usr/bin/python (found version "2.7.6")
Using PYTHON_EXECUTABLE: /usr/bin/python
Using Debian Python package layout
Using empy: /home/hua/root/usr/bin/empy
Using CATKIN_ENABLE_TESTING: ON
Call enable_testing()
Using CATKIN_TEST_RESULTS_DIR: /home/hua/orocos-2.9_ws/build/catkin_tools_prebuild/test_results
Could NOT find PythonInterp (missing:  PYTHON_EXECUTABLE) (found version "2.7.6")
Looking for include file pthread.h
Looking for include file pthread.h - found
Looking for pthread_create
Looking for pthread_create - not found
Looking for pthread_create in pthreads
Looking for pthread_create in pthreads - not found
Looking for pthread_create in pthread
Looking for pthread_create in pthread - found
Found Threads: TRUE
Found gtest sources under '/usr/src/gtest': gtests will be built
Using Python nosetests: /usr/bin/nosetests-2.7