catkin_make CMake cross-compile not finding libs: Librt, LibThreads
Hi,
I need help configuring my setup to get a usable IDE working environment for ROS cross-compilation development.
The setup is as following:
- Raspberry Zero: compiled ROS kinetic successfully from source
- 64Bit Ubuntu x86: able to cross-compile and remote debug Raspberry Zero (within Eclispe). Installed ROS via bin packages successfully
I want to crosscompile a ROS node (via make target in Eclipse CDT) on the Ubuntu machine, then remote debug ROS node on the Zero. I was able to generate an Eclipse project as well as building ROS node for x86. Via ssh I can build the ROS node on the zero, as well.
But it is impossible for me to figure out the root cause of what’s wrong with the environment configuration. I cannot convince catkin_make to build my node with the ARM compiler and environment.
Here's what I did:
First I created a toolchainfile /home/ruben/catkin_rpi_ws/rostoolchain.cmake to achieve cross-compile:
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_C_COMPILER /home/ruben/rpi/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-gcc)
set(CMAKE_CXX_COMPILER /home/ruben/rpi/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-g++)
set(CMAKE_FIND_ROOT_PATH /home/ruben/rpi/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/)
# 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_CMAKE_FIND_ROOT_PATH)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
Then I initialised environment
source /opt/ros/kinetic/setup.bash
I pulled a ROS node implementation from Git-Hub (I was able to build & exectue this on the Zero itself)
git clone https://github.com/rumble-on/ros-hc-sr04-node.git src/ros-hc-sr04-node
Klone nach 'src/ros-hc-sr04-node' ...
remote: Counting objects: 54, done.
remote: Compressing objects: 100% (29/29), done.
remote: Total 54 (delta 22), reused 54 (delta 22), pack-reused 0
Entpacke Objekte: 100% (54/54), Fertig.
Prüfe Konnektivität ... Fertig
Finally generated workspace
catkin_init_workspace src/
Creating symlink "/home/ruben/catkin_rpi_ws/src/CMakeLists.txt" pointing to "/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake"
Then I give it a try to build it
catkin_make -DCMAKE_TOOLCHAIN_FILE=/home/ruben/catkin_rpi_ws/rostoolchain.cmake
Base path: /home/ruben/catkin_rpi_ws
Source space: /home/ruben/catkin_rpi_ws/src
Build space: /home/ruben/catkin_rpi_ws/build
Devel space: /home/ruben/catkin_rpi_ws/devel
Install space: /home/ruben/catkin_rpi_ws/install
####
#### Running command: "cmake /home/ruben/catkin_rpi_ws/src -DCMAKE_TOOLCHAIN_FILE=/home/ruben/catkin_rpi_ws/rostoolchain.cmake -DCATKIN_DEVEL_PREFIX=/home/ruben/catkin_rpi_ws/devel -DCMAKE_INSTALL_PREFIX=/home/ruben/catkin_rpi_ws/install -G Unix Makefiles" in "/home/ruben/catkin_rpi_ws/build"
####
-- The C compiler identification is GNU 4.8.3
-- The CXX compiler identification is GNU 4.8.3
-- Check for working C compiler: /home/ruben/rpi/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-gcc
-- Check for working C compiler: /home/ruben/rpi/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/ruben/rpi/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-g++
-- Check for working CXX compiler: /home/ruben/rpi/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/ruben/catkin_rpi_ws ...
Not to discourage you, but I think you have an issue people generally try to avoid by either compiling on target, or by building entire root fs using OpenEmbedded or similar tools.
I can't help you I'm afraid, other than saying that I'd try to first get things working without Eclipse ..
..: your last update shows that that also doesn't work (yet).
And finally (but I think you already have that clear): catkin is basically CMake. It does use some trickery here and there, but it should leave most things alone.
Have you tried
catkin_tools?I'll have a look with Yocto and OpenEmbedded. In parallel I try to get at least the crosscompile of that node done. It turns out that I need to apply changes in nodes CMakeLists, which I guess is way far from reusability, e.g. link_directories(...), include_directories(...).
I'm not suggesting that you should just move to Yocto & friends per se. I just wanted to give you a possible rationale for why you (can) find little information on this: cross-compilation can be difficult to get right, so users typically tend to avoid it and use something 'easier'.
Having to change paths manually is definitely not something that should be needed. For a typical cross-compilation setup you'd only want to change the sysroot and that should be it. I've seen people use Docker images for this.