This is a very minimal pass at a workflow that can use a custom toolchain to create a ROS2 build.
It cannot handle dependencies that are outside the source tree, so there is only a limited subset of ROS2 that this can build.
As of right now, it is specifically tuned to using a linaro aarch64 cross compiler, but to make it generic should not take much modification.
You need to have Docker and vcs installed on your dev computer already
- Download the linaro cross compiler (6.5)
- https://releases.linaro.org/components/toolchain/binaries/6.5-2018.12/aarch64-linux-gnu/gcc-linaro-6.5.0-2018.12-x86_64_aarch64-linux-gnu.tar.xz
- extract it fully into this repo and change the directory's name to
gcc-linaro-aarch64/
- Download the linaro sysroot (6.5)
- https://releases.linaro.org/components/toolchain/binaries/6.5-2018.12/aarch64-linux-gnu/sysroot-glibc-linaro-2.23-2018.12-aarch64-linux-gnu.tar.xz
- extract it fully into this repo and change the directory's name to
sysroot-linaro6.5
- Get the ROS2 sources
vcs import src < minimal_cpp_ros2_master.repos
# we do not have log4cxx dependency and don't actually need it
touch src/ros2/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE
Start the container from the top dir of this repo
docker run -it -v $(pwd):/ws/ros2build candleends/ros2_cross_compiler
Now run the build within the container
colcon build --mixin aarch64-linux --packages-up-to demo_nodes_cpp
Exit the build container. The install/ directory is your ROS2 build.
adb push install /userdata/install
Open one adb shell to the device
export LD_LIBRARY_PATH=/userdata/install/lib
/userdata/install/lib/demo_nodes_cpp/talker
Then, in a second adb shell
export LD_LIBRARY_PATH=/userdata/install/lib
/userdata/install/lib/demo_nodes_cpp/listener
Now, you should see that the listener is receiving messages from the talker.
If you need to change the docker image that we use for building, it's easy to rebuild
cd docker
docker build . -t candleends/ros2_cross_compiler