[ros-users] A cross-compiling repository

[Jack O'Quin]

On Wed, Aug 4, 2010 at 9:11 AM, Daniel Stonier <d.stonier at gmail.com> wrote:
>
> Greetings all,
>
> This is targeted at anyone who is either working with a fully cross-compiled
> ros or simply using it as a convenient build environment to do embedded
> programming with toolchains.
> It seems that we're now having a few groups actively working at various
> stages cross-compiling with the RoS and rather than going it solo all the
> time, it would be good if we could pool resources. As I've mentioned before
> on the mailing list, I've been working at building an environment for
> cross-compiling that automates and simplifies the process and have tested it
> on the guinea pigs (err lads) at work who have little and often no
> experience with cross compiling. They seem to be taking to it well, so I'd
> like to go a step further and see if we can help the RoS scale down as well
> as its been scaling up.
> What I'd like to propose as goals for the project.
>
> Simplify the cross compiling environment for the ros with tools, packages,
> documentation and contact points.
> Be responsible for testing, maintaining and providing patches upstream to
> ros that enable embedded ros'.
> Be a collective group that is willing to work together/share problems common
> to cross-compiling and more particularly cross-compiling in general.
> Provide guides/tools that enable building of simple root filesystems running
> the ros.
> Provide guides/tools for development on common targets (including
> emulations).
> Endeavour to keep a watch (and provide fixes) on ros/ros stacks so that as
> much as possible correctly cross compiles.
>
> What I envisage us needing at least to get kick started:
>
>  An official ros package repository with tools and build scripts dedicated
> to cross-compiling accompanied by good documentation for the ros websites
>
> A library of cmake modules representing different toolchains*
> A library of cmake modules representing different platforms*
> Python scripts of many sorts...*
> Packages which provide cmake build scripts for ros dependencies, e.g. boost,
> apr, apr-log*
> Cross compiling test packages such as msg_latency, rpc_latency*
> Maintains patches for the ros which automatically apply on selection of a
> toolchain (until the patches get merged upstream)*
> Tools for building simple embedded ros root filesystems (or instructions).
>
> A dev area (e.g. redmine with issue tracker, wiki and forum) where cross
> compiling issues can be tracked and discussed.
> An irc room for live interaction.
>
> Some of these tools* we're already using at Yujin and are bundled in the ecl
> (link below). However I think its both simpler and better if I unbundle them
> and commit them to a project with a single focus. To give some idea of their
> usage currently in the ecl and at Yujin:
>
> Partial cross guide :
> http://snorriheim.dnsdojo.com/redmine/wiki/ecl/Partial_cross_compile
> Full cross guide :
> http://snorriheim.dnsdojo.com/redmine/wiki/ecl/Full_cross_compile
> Build tools :
> http://snorriheim.dnsdojo.com/redmine/wiki/ecl/Ecl_ros_python_tools
> CMake toolchains/platforms :
> http://snorriheim.dnsdojo.com/redmine/embedded/ecl/ecl_build/html/index.html
> Ros deps : http://snorriheim.dnsdojo.com/redmine/wiki/ecl/Ecl_cross
> Embedded opencv (no gui and utilises rosconfig.cmake) :
> http://snorriheim.dnsdojo.com/redmine/embedded/ecl/ecl_opencv/html/index.html
>
> To kick start I'm thinking of opening a google code project to simplify and
> transfer the ecl build components and a redmine project at snorriheim for a
> dev area. My schedule is a bit tight until september when I'll have about
> two weeks free time to really work on it, but I'd like to canvas here first
> for some opinions or advice and see if there are other interested parties
> that would like to participate or also provide some input.
>
> Any thoughts/suggestions?

Sounds like a good idea to me.
-- 
 joq