ros2 on raspberry pi

edit

Hi, I'm trying to cross compile ROS2 Bouncy for a Raspberry pi 3, without success.

I downloaded the raspbian tools from here https://github.com/raspberrypi/tools

I'm using the gcc-linaro-arm-linux-gnueabihf-raspbian-x64 toolchain.

This is my rpi3_toolchain.cmake file

set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_VERSION 1)
set(CMAKE_SYSTEM_PROCESSOR aarch64)

# define some paths 
set(RASPBERRY_TOOLS_PATH /home/asoragna/repos/raspberrypi3/tools/arm-bcm2708)
set(RASPBERRY_ROOT_FS /home/asoragna/repos/raspberrypi3/rootfs)
set(RASPBERRY_ROS2_WS /home/asoragna/ros2/raspberry_sdk_ws)

# specify the cross compiler
set(CMAKE_C_COMPILER ${RASPBERRY_TOOLS_PATH}/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-gcc)
set(CMAKE_CXX_COMPILER ${RASPBERRY_TOOLS_PATH}/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-g++)

set(CMAKE_SYSROOT ${RASPBERRY_ROOT_FS})

# where is the target environment
set(CMAKE_FIND_ROOT_PATH
  ${RASPBERRY_ROOT_FS}
  ${RASPBERRY_TOOLS_PATH}/gcc-linaro-arm-linux-gnueabihf-raspbian-x64
  ${CMAKE_CURRENT_LIST_DIR}/install
)

set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

# This assumes that pthread will be available on the target system
# (this emulates that the return of the TRY_RUN is a return code "0"
set(THREADS_PTHREAD_ARG "0"
  CACHE STRING "Result from TRY_RUN" FORCE)

Then I build using colcon

colcon \
    build \
    --merge-install \
    --cmake-force-configure \
    --cmake-args \
    -DCMAKE_TOOLCHAIN_FILE=`pwd`/rpi3_toolchain.cmake \
    -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON \
    -DTHIRDPARTY=ON \
    -DBUILD_TESTING=0

The error I get is in the rcutils package:

In file included from /home/asoragna/ros2/raspberry_sdk_ws/src/ros2/rcutils/include/rcutils/allocator.h:26:0,
                 from /home/asoragna/ros2/raspberry_sdk_ws/src/ros2/rcutils/include/rcutils/error_handling.h:31,
                 from /home/asoragna/ros2/raspberry_sdk_ws/src/ros2/rcutils/src/error_handling.c:22:
/home/asoragna/ros2/raspberry_sdk_ws/src/ros2/rcutils/include/rcutils/macros.h:60:32: error: unknown type name ‘_Thread_local’
   #define RCUTILS_THREAD_LOCAL _Thread_local

DO you have any idea about how to solve this issue ? I tried different tutorials on the web but they are quite old and not easily applicable to ros2 bouncy.