[ros-users] Cross-Compilation Patch

[Cedric Pradalier]

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

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