[ros-users] Cross-Compilation Patch

["Jan Tünnermann"]

Hi Cedric,

 I'm currently trying to get ROS running on my openmoko freerunnner
smartphone (under debian, armv4t). I almost compiled everything, but the
compiler crashes compiling roscpp, because it's running our of memory. I
created a large swap-file which didn't help. I haven't looked into
cross-compiling yet, could it be a solution? Would it maybe be possible
to just cross-compile roscpp on my laptop and move it to the phone? What
would it involve to setup a cross-compiling environment to do this?

This if probably a bit off-topic regarding the question in your email, but
I would appreciate any hints...
thanks in advance
jan



Am Fr, 9.07.2010, 14:55 schrieb Cedric Pradalier:
> 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}" "${PROJECT_SOURCE_DIR}" /
> NO_CMAKE_FIND_ROOT_PATH)
> in both function. This will force find_file to ignore the
> CMAKE_FIND_ROOT_PATH for these functions. This is fine since they seem
> to be used only to refer to local files.
>
> ======== OpenCV ========
> In OpenCV, the Makefile does not use the toolchain file. I've modified
> mine as follows. There might cleaner ways to get the same semantic.
> CMAKE = cmake
> TOOLCHAIN =
> ifeq (x$(wildcard
> $(ROS_ROOT)/rostoolchain.cmake),x$(ROS_ROOT)/rostoolchain.cmake)
>      TOOLCHAIN = -DCMAKE_TOOLCHAIN_FILE=$(ROS_ROOT)/rostoolchain.cmake
> endif
> CMAKE_ARGS = $(TOOLCHAIN) -D CMAKE_BUILD_TYPE=RELEASE \
>               -D CMAKE_INSTALL_PREFIX=`rospack find
> opencv2`/$(INSTALL_DIR) \
>               ...
> =========================
> Next thing is to find a way to generate rospack and rosstack twice, once
> for host, another for deployment, and to call a different one during
> compilation and at runtime. Any idea?
>
> HTH
>
> --
> Dr. Cedric Pradalier
> http://www.asl.ethz.ch/people/cedricp
>
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