I've now finished compiling my full project for ARM (core, opencv, camera1394, hokuyo, tf, joy, image_transport), and there is a couple of point I noticed after my initial post. See below.

On 07/09/10 14:55, Cedric Pradalier wrote:

Hi,

I'd like to suggest the 2 micro-patch to help cross-compiling ros.

======== ROS BUILD ========
I now use more the rostoolchain.cmake and I really think that's the way 
forward. Mine looks like that:
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR arm-angstrom-linux-gnueabi)
set(GUMSTIXTOP [...]/overo-oe)
set(GUMSTIXFS [...]/overo-dev)
set(CMAKE_C_COMPILER
     
${GUMSTIXTOP}/tmp/cross/armv7a/bin/arm-angstrom-linux-gnueabi-gcc-sysroot)
set(CMAKE_CXX_COMPILER
     
${GUMSTIXTOP}/tmp/cross/armv7a/bin/arm-angstrom-linux-gnueabi-g++-sysroot)
set(CMAKE_FIND_ROOT_PATH ${GUMSTIXFS})
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

The CMAKE_FIND... directives are conflicting with the 
_rosbuild_add_rostest and _rosbuild_add_pyunit in 
rosbuild/private.cmake. This can be corrected by applying the following 
patch:
-  find_file(_file_name ${file} ${PROJECT_SOURCE_DIR} /)
+  find_file(_file_name "${file}" "${PROJECT_SOURCE_DIR}" / 
NO_CMAKE_FIND_ROOT_PATH)
in both function. This will force find_file to ignore the 
CMAKE_FIND_ROOT_PATH for these functions. This is fine since they seem 
to be used only to refer to local files.

This actually also affect rosbuild_add_executable in public.cmake.

======== OpenCV ========
[...]

======== TF ========
In package tf, in tf/CMakeLists.txt, the -ssse3 is not prefixed by a system type. I've changed it by copy-pasting from opencv (I guess it could be done nicer with a OR :)):

rosbuild_add_compile_flags(pytf_py -g -Wno-missing-field-initializers)
if(CMAKE_COMPILER_IS_GNUCXX)
    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm*)
        # We can use only -O2 because the -O3 causes gcc crash
        set(X86 0)
    endif()
    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES powerpc*)
        set(X86 0)
    endif ()


    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES amd64*)
        set(X86_64 1)
    endif()
    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64*)
        set(X86_64 1)
    endif()

    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES i686*)
        set(X86 1)
    endif()
    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES i386*)
        set(X86 1)
    endif()
    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86*)
        set(X86 1)
    endif()

    if(X86 OR X86_64)
        rosbuild_add_compile_flags(pytf_py -msse3)
    endif()
endif()

======== libtheora ========
In libtheora, I need to add -host arm-gumstix-linux-gnu --disable-asm to autogen.sh
but I'm not sure how to do it using the rostoolchain information.

Again, HTH

-- 
Dr. Cedric Pradalier
http://www.asl.ethz.ch/people/cedricp