[ros-users] A cross-compiling repository

[koen buys]

It sounds like a good idea, in our lab we're using ROS on OMAP 3530
(Beagleboard and Igep) and should be
compatible with the popular gumstix.

On 4 August 2010 16:47, Jack O'Quin <jack.oquin at gmail.com> wrote:
> 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
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