[ros-users] [Discourse.ros.org] [Next Generation ROS] ROS2 Cross compilation

Louis Mayencourt ros.discourse at gmail.com
Tue Nov 13 18:04:57 UTC 2018


Following the multiple discussions around the cross-compilation of ROS2, I would like to combine all the effort under the same topic.

There are a couple of different link regarding the cross-compilation (for arm architecture):
- the instructions we put together for the aarch64: [ros2-for-arm](https://github.com/ros2-for-arm/ros2/wiki/ROS2-on-arm-architecture)
- this [issue](https://github.com/ros2-for-arm/ros2/issues/7) on the ros2-for-arm repo 
- esteve [ros2-raspbian-tools](https://github.com/esteve/ros2_raspbian_tools)
- alsora [github](https://github.com/alsora/ros2-raspberrypi) 
- which appear on this [issue_1](https://discourse.ros.org/t/how-to-cross-compile-ros2-for-arm64-architecture/3702), [issue_2](https://discourse.ros.org/t/import-error-no-module-named-rclpy-rclpy-cross-compiling/2463)  on discourse
- and probably other one...

The different instructions are using the same tools to achieve the cross-compilation:
- a cmake toolchainfile
- docker/chroot + qemu to prepare the target filesystem
- docker as environment for the cross-compilation

To simplify the life of the people who would like to cross-compile ros2 and concentrate the contribution on this topic at one place, I would like to:
- create a "ROS2 Cross-compilation" page with the instructions under [ros index](https://index.ros.org/doc/ros2/Tutorials/) tutorials (I will do the PR in the coming days)
- push the required files on the [ros2/crosscompile](https://github.com/ros2/ros2/tree/master/arm_crosscompilation) repo (Docker files + cmake toolchainfile)
how does it sound ?
Please give me your opinions on this and any suggestions are welcome !

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