Hybrid cross-compilation for ROS-based projects for Raspberry Pi [closed]

asked 2019-04-27 08:28:17 -0500

vedranMv gravatar image


I've just finished my latest project and thought to share it with the community. It's a method for hybrid cross compilation of ROS and ROS-based projects for Raspberry pi (and probably other armhf boards running linux).

I developed it since I wanted to use cross compilation on a ROS project I'm working on but there seemed to be no complete guide on how to do it, with all info in one place, updated for newer ROS version. This hybrid approach relies on a docker container to do the muscle work (compilation & linking) while it uses a portion of the target filesystem to resolve the dependencies. The method should be fairly portable, modular and flexible towards different ROS version and flavors.

So far, it is possible to cross-compile ros_comm and ros_robot (without collada_urdf) and then simply copy the install folder back to target system. What's more important, it allows one to compile catkin workspaces containing ROS packages, link them against target system libraries and ROS libraries - all on the host system. Afterwards, simply move the install folder back to target system and use it.

Perhaps it can help someone else as well :)


edit retag flag offensive reopen merge delete

Closed for the following reason question is off-topic or not relevant. Please see http://wiki.ros.org/Support for more details. by gvdhoorn
close date 2019-04-27 09:28:01.893200



You'll want to post this on ROS Discourse. ROS Answers is for Q&A only.

+1 for making this available btw.

gvdhoorn gravatar imagegvdhoorn ( 2019-04-27 09:27:56 -0500 )edit