ros2_humble_foxy_x86交叉编译环境搭建

1.问题现象

1. 前期开发, 代码都是在开发板上编译(高性能Soc rk3588, Nvidi Jetson Nx/Orin), 运行, 调试; 编译速度2~3分钟, 可以接受
2. 随着项目功能变多, 有越来越多的依赖库: 如ros2 公共topic msg库, 公共lib库, 导致编译依赖项变多, 编译速度变慢; 现在在开发板上编译, 第一次编译时间由之前的2分钟, 到现在要15分钟, 太浪费时间了
3. 由于在新平台独立开发的项目, 也要集成到CI/CD中, 于是重构了之前的x86 ros2交叉编译方法; 实现一键docker部署, 减少耦合, 优化编译流程步骤, 降低研发人员出错率

2.编译方法汇总对比

• 开发板上编译50分钟的
• x86交叉编译只需15分钟
  故还是推荐有条件的, 完善x86交叉编译流程, 提升整体效率

3.ros2_humble_x86交叉编译方法

1.制作arm64 rootfs根文件系统

使用命令dd或rsync,tar,cp, 备份arm64开发板的根文件系统

# dd命令备份根文件示例
dd if=/dev/nvme0p1p8 of=/mnt/disk/rootfs.img

2.主机安装ros2 和 交叉编译工具

# 1.安装ros2 和 colcon build
sudo apt install -y python3-colcon-common-extensions ros-humble-desktop

# 2.安装交叉编译工具
sudo apt install g++-aarch64-linux-gnu gcc-aarch64-linux-gnu

3.cmake交叉编译配置文件

toolchain-aarch64.cmake

set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR aarch64)

set(CMAKE_C_COMPILER /usr/bin/aarch64-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER /usr/bin/aarch64-linux-gnu-g++)
set(CMAKE_LINKER aarch64-linux-gnu-ld)

set(CMAKE_SYSROOT ${sysRootfs})
link_directories(${CMAKE_SYSROOT}/usr/lib/aarch64-linux-gnu)
# 缺失几个重要选项 --提供有偿咨询, 完整方案解决

set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)

4.编译指令

source /opt/ros/humble/setup.bash
colcon build \
    --cmake-args \
    -D sysRootfs=${sysRootfs} \
    -D workSpaceDir=${workSpaceDir} \
    -D CMAKE_TOOLCHAIN_FILE=${sourceDir}/toolchain-aarch64.cmake

4.交叉编译示例

1.下载测试ros2代码

下载官方ros2 example代码
git clone https://github.com/ros2/examples.git

下载自己编写的ros示例:
https://gitee.com/zero2200/7_ros-robot-example
保留:

• src/2_cpp_base # 依赖common
• src/common # 公共topic

2.编译命令

colcon build --cmake-args \
	-D sysRootfs=/rootfs/ubuntu22_ros2_humble_arm64 \
	-D workSpaceDir=/home/liuj/3_work/8_ros2_cross_build \
	-D PYTHON_SOABI=cpython-310m-aarch64-linux-gnu \
	-D CMAKE_TOOLCHAIN_FILE=/home/liuj/3_work/8_ros2_cross_build/toolchain-aarch64.cmake

输出日志:

colcon build --cmake-args -D sysRootfs=/rootfs/ubuntu22_ros2_humble_arm64 -D workSpaceDir=/home/liuj/3_work/8_ros2_cross_build -D PYTHON_SOABI=cpython-310m-aarch64-linux-gnu -D CMAKE_TOOLCHAIN_FILE=/home/liuj/3_work/8_ros2_cross_build/toolchain-aarch64.cmake
WARNING: Package name "2_cpp_base" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
[0.295s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces:
        'examples_rclcpp_minimal_service' is in: /opt/ros/humble
        'examples_rclcpp_minimal_composition' is in: /opt/ros/humble
        'examples_rclcpp_minimal_action_server' is in: /opt/ros/humble
        'examples_rclpy_executors' is in: /opt/ros/humble
        'examples_rclcpp_minimal_timer' is in: /opt/ros/humble
        'examples_rclpy_minimal_action_client' is in: /opt/ros/humble
        'examples_rclpy_minimal_service' is in: /opt/ros/humble
        'examples_rclcpp_minimal_action_client' is in: /opt/ros/humble
        'examples_rclcpp_minimal_publisher' is in: /opt/ros/humble
        'examples_rclpy_minimal_action_server' is in: /opt/ros/humble
        'examples_rclcpp_multithreaded_executor' is in: /opt/ros/humble
        'examples_rclpy_minimal_subscriber' is in: /opt/ros/humble
        'examples_rclpy_minimal_client' is in: /opt/ros/humble
        'examples_rclpy_minimal_publisher' is in: /opt/ros/humble
        'examples_rclcpp_minimal_client' is in: /opt/ros/humble
If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.
If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line:
        --allow-overriding examples_rclcpp_minimal_action_client examples_rclcpp_minimal_action_server examples_rclcpp_minimal_client examples_rclcpp_minimal_composition examples_rclcpp_minimal_publisher examples_rclcpp_minimal_service examples_rclcpp_minimal_timer examples_rclcpp_multithreaded_executor examples_rclpy_executors examples_rclpy_minimal_action_client examples_rclpy_minimal_action_server examples_rclpy_minimal_client examples_rclpy_minimal_publisher examples_rclpy_minimal_service examples_rclpy_minimal_subscriber

This may be promoted to an error in a future release of colcon-override-check.
Starting >>> 2_cpp_base
Starting >>> common
Starting >>> examples_rclcpp_async_client
Starting >>> examples_rclcpp_cbg_executor
Starting >>> examples_rclcpp_minimal_action_client
Starting >>> examples_rclcpp_minimal_action_server
Starting >>> examples_rclcpp_minimal_client
Starting >>> examples_rclcpp_minimal_composition
Starting >>> examples_rclcpp_minimal_publisher
Starting >>> examples_rclcpp_minimal_service
Starting >>> examples_rclcpp_minimal_timer
Starting >>> examples_rclcpp_multithreaded_executor
Starting >>> examples_rclpy_executors
Starting >>> examples_rclpy_guard_conditions
Starting >>> examples_rclpy_minimal_action_client
Starting >>> examples_rclpy_minimal_action_server
Finished <<< 2_cpp_base [1.08s]                                                                                                                                                
Finished <<< examples_rclcpp_async_client [1.08s]
Finished <<< examples_rclcpp_cbg_executor [1.09s]                                                                                                                   
Finished <<< examples_rclcpp_multithreaded_executor [1.08s]
Finished <<< examples_rclcpp_minimal_timer [1.10s]
Finished <<< examples_rclcpp_minimal_client [1.13s]
Finished <<< examples_rclcpp_minimal_action_server [1.15s]
Starting >>> examples_rclpy_minimal_client
Starting >>> examples_rclpy_minimal_publisher
Starting >>> examples_rclpy_minimal_service
Starting >>> examples_rclpy_minimal_subscriber
Starting >>> examples_rclpy_pointcloud_publisher
Starting >>> launch_testing_examples
Finished <<< examples_rclcpp_minimal_action_client [1.19s]                                                                                                                 
Finished <<< examples_rclcpp_minimal_service [1.19s]
Finished <<< examples_rclcpp_minimal_publisher [1.21s]
Finished <<< examples_rclcpp_minimal_composition [1.23s]
Finished <<< common [1.26s]
Finished <<< examples_rclpy_guard_conditions [2.66s]                                                                                                             
Finished <<< examples_rclpy_executors [2.71s]                                                                                                                        
Finished <<< examples_rclpy_minimal_action_server [2.70s]
Finished <<< examples_rclpy_minimal_action_client [2.72s]
Finished <<< examples_rclpy_minimal_client [1.86s]                                                                                                              
Finished <<< examples_rclpy_pointcloud_publisher [1.86s]
Finished <<< examples_rclpy_minimal_service [1.88s]
Finished <<< launch_testing_examples [1.87s]
Finished <<< examples_rclpy_minimal_subscriber [1.88s]
Finished <<< examples_rclpy_minimal_publisher [1.90s]

Summary: 22 packages finished [3.31s]

3.确认文件

file install/examples_rclcpp_minimal_publisher/lib/examples_rclcpp_minimal_publisher/publisher_member_function

/home/liuj/3_work/8_ros2_cross_build/install/examples_rclcpp_minimal_publisher/lib/examples_rclcpp_minimal_publisher/publisher_member_function: ELF 64-bit LSB pie executable, ARM aarch64, version 1 (GNU/Linux), dynamically linked, interpreter /lib/ld-linux-aarch64.so.1, BuildID[sha1]=7e90bbc22cb0565830d022d128b2ba3ccd2ae605, for GNU/Linux 3.7.0, not stripped

拷贝到arm64开发板, 运行成功

5.总结

1. 制作交叉编译环境, 本质还是得熟悉gcc/g++ 编译原理, 流程. 能够shell脚本 + gcc/g++命令 , 实现交叉编译
   当移植到cmake,meson,bazel等构建工具, 才能定位, 独立解决问题
2. 实测ros2 foxy, humble交叉编译验证通过
3. 实测docker, 虚拟机vmware+virtualbox, wsl2 交叉编译环境, 验证通过
4. 实测 英伟达nvidia jetson orin/nx cuda交叉编译通过，瑞芯微rk3588,rk3568 npu视频编码加速交叉通过，拷贝到开发板运行正常