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

Louis Mayencourt ros.discourse at gmail.com
Tue Nov 20 17:18:37 UTC 2018

Thanks for your support on this !

Here some news of my progress:

I'm almost done with the tutorial page. I add some general information about CMake and cross-compilation.

I'm still thinking on the best way to upstream the cross-compilation related files. The last idea is to create a `ros2/crosscompile` repo, which will contains a package with the same name. 
This repo will come by default with a COLCON_IGNORE, allowing us to add it to the ros2.repos file. Native compilation will not be affected, and cross-compilation would be possible by simply removing this file. 
This approach allows us to add a script to generate the sysroot with colcon, before the other packages.

Regarding the cross-compilation itself, I still have to ignore the following packages:

> touch \
>     ros2_ws/src/ros2/rviz/COLCON_IGNORE \
>     ros2_ws/src/ros2/demos/intra_process_demo/COLCON_IGNORE \
>     ros2_ws/src/ros2/demos/image_tools/COLCON_IGNORE \
>     ros2_ws/src/ros2/robot_state_publisher/COLCON_IGNORE

@Silvia, I think support for RTOS is a more complicate topics than just cross-compilation. You will probably find more info on this if you look for "embedded ROS2" topics, like this one https://discourse.ros.org/t/ros2-embedded-sig-meeting/6645

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