From 3097f1a80451a1cc8ca0f530698e1b75d8fe3291 Mon Sep 17 00:00:00 2001
From: Andreas Bihlmaier <andreas.bihlmaier@gmx.de>
Date: Fri, 13 Mar 2020 15:48:42 +0000
Subject: [PATCH 1/2] fix compilation on aarch64 (e.g. Ubuntu 18.04.4 on
 Raspberry Pi 4)

---
 src/RaspiCamControl.cpp | 4 ++--
 src/raspicam_node.cpp   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/RaspiCamControl.cpp b/src/RaspiCamControl.cpp
index 3743ba0..aa88da0 100644
--- a/src/RaspiCamControl.cpp
+++ b/src/RaspiCamControl.cpp
@@ -26,7 +26,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifdef __arm__
+#if defined(__arm__) || defined(__aarch64__)
 
 #include <memory.h>
 #include <stdio.h>
@@ -919,4 +919,4 @@ void raspicamcontrol_check_configuration(int min_gpu_mem) {
     vcos_log_error("Failed to run camera app. Please check for firmware updates\n");
 }
 
-#endif  // __arm__
+#endif  // __arm__ || __aarch64__
diff --git a/src/raspicam_node.cpp b/src/raspicam_node.cpp
index 22d3748..2cb5098 100644
--- a/src/raspicam_node.cpp
+++ b/src/raspicam_node.cpp
@@ -37,7 +37,7 @@ int main(int argc, char** argv) {
 
 #endif  // __x86_64__
 
-#ifdef __arm__
+#if defined(__arm__) || defined(__aarch64__)
 
 // We use some GNU extensions (basename)
 #include <memory.h>
@@ -1380,4 +1380,4 @@ int main(int argc, char** argv) {
   ros::shutdown();
 }
 
-#endif  // __arm__
+#endif  // __arm__ || __aarch64__

From 0df5256ab12e635fed475ee4aadea389d68f09e6 Mon Sep 17 00:00:00 2001
From: Andreas Bihlmaier <andreas.bihlmaier@gmx.de>
Date: Sat, 14 Mar 2020 10:45:36 +0000
Subject: [PATCH 2/2] fix "mmal: mmal_component_create_core: could not find
 component vc.ril.camera"

Fixes the following error (on Ubuntu 18.04 aarch64 using Raspbian kernel8.img (4.19.97-v8+ #1294)):
mmal: mmal_component_create_core: could not find component 'vc.ril.camera'
mmal: Failed to create camera component

For details refer to https://github.com/raspberrypi/userland/issues/178
---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9478576..398f89e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,6 +3,7 @@ project(raspicam_node)
 
 
 set(CMAKE_CXX_STANDARD 14) # use C++14
+set(CMAKE_EXE_LINKER_FLAGS "-Wl,--no-as-needed")  # https://github.com/raspberrypi/userland/issues/178
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)