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Cross compilation for embedded linux ARM system

asked 2021-05-11 06:43:45 -0600

eliasreid gravatar image

My company has been looking into ROS2, and we're trying to figure out it how to cross compile ROS2 nodes for a system that does not have a "full" ROS2 installation. Ideally we would like to develop nodes on a desktop platform, but for deployment, build the nodes into one (or a set) or executables for the target platform (armhf)

The cross compile instructions in the documentation point to the cross_compile tool Github page (https://github.com/ros-tooling/cross_...). But at the top of the readme, the only target platform OSs are Ubuntu and Debian. I ran through the tutorial and the result it like the resulting nodes are built into shared libraries that are launched by ros2 run (I could be misunderstanding something here). We rely on a version of Linux that ROS2 in general does not support - we just want to cross-compile the nodes, and run them on the target platform.

Looking for any advice or resources for this type of use case, thank you!

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Hi Elias,

Our team at AWS Robotics develops and maintains this tool. Would be interesting to learn more about your use case and how we may be able to help. Drop me a note and we can coordinate buscaron at amazon dot com.

Regards, Cam

cam_buscaron gravatar image cam_buscaron  ( 2021-05-14 16:46:29 -0600 )edit

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answered 2021-05-11 10:48:07 -0600

We managed to cross-compile ROS 2 for Raspberry Pi Zero (armhf). In addition, we wrote a Docker image that contains all necessary tools and configurations for cross-compilation.

Here are the instructions:
https://github.com/cyberbotics/epuck_...

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Asked: 2021-05-11 06:39:28 -0600

Seen: 148 times

Last updated: May 11