Asoragna/ubuntu arm64

README.md

@@ -28,23 +28,35 @@ The supported architectures are:
 
 ## Requirements
 
- - Docker
-
-If you don't have Docker installed follow [this link](../docker_setup.md).
-Ensure that you have support for building and running ARM Docker containers.
-
-Install some other dependencies
+This tool requires a Linux-based OS.
+It is tested only on Ubuntu 20.04, other distributions may or may not work.
+
+ - Install Docker following official instructions https://docs.docker.com/desktop/install/linux-install/
+ - Manage Docker as non-root user (log out and log back in after running the commands)
+ ```
+ sudo groupadd docker
+ sudo usermod -aG docker $USER
+ ```
+ - Install qemu dependencies
+ ```
+ sudo apt-get update && sudo apt-get install qemu binfmt-support qemu-user-static
+ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes --credential yes
+ docker run --rm -t arm64v8/ubuntu uname -m
+ ```
+ - Install additional minor requirements
+ ```
+ sudo apt-get update && sudo apt-get install -y curl gnupg2 lsb-release software-properties-common
+ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+ sudo apt-get update && sudo apt-get install -y python3-vcstool wget
+ ```
+
+## Build the Framework
 
 ```
-sudo apt update && sudo apt install -y curl gnupg2 lsb-release software-properties-common
-curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-sudo apt update && sudo apt install -y python3-vcstool wget
+bash build.sh
 ```
 
-## Build
-
-    bash build.sh
-
 This will build the cross-compilation framework.
 It mainly consists of a bunch of `Dockerfile`s which provide a Docker environment with all the cross-compilation dependencies installed for each of the supported architectures.
 
@@ -65,15 +77,19 @@ Let's go through an example showing how to manually cross-compile ROS 2 Foxy SDK
 
 Source the environment variables for this architecture using
 
-    source env.sh raspbian
+```
+source env.sh raspbian
+```
 
 Create a sysroot for the architecture.
 This command will download a sysroot for the archicture specified by the `TARGET_ARCHITECTURE` environment variable (the argument passed to the `env.sh` script above, `raspbian` in this case).
 Note that if you already have a sysroot with the same name inside the `sysroots` directory, it will be overwritten by the new one.
 
 If you want to use your own sysroot, instead of generating a new one, you can skip the last instruction and just place your sysroot in the `sysroots` directory. Your sysroot directory must be renamed to `raspbian` or as the specified `TARGET_ARCHITECTURE` that you passed to `env.sh`.
 
-    bash get_sysroot.sh
+```
+bash get_sysroot.sh
+```
 
 Create a ROS 2 workspace that you want to cross-compile.
  - The cross-compilation script will mount the workspace as a Docker volume. This does not go well with symbolic links. For this reason ensure that the workspace contains the whole source code and not a symlink to the repositories.
@@ -82,26 +98,34 @@ Create a ROS 2 workspace that you want to cross-compile.
 We provide convenient scripts for downloading the ROS 2 sources for a specific distribution.
 If you want to cross-compile generic ROS 2 packages, see the [advanced section](advanced.md).
 
-    bash get_ros2_sources.sh --distro=foxy --ros2-path=~/ros2_cc_ws
+```
+bash get_ros2_sources.sh --distro=foxy --ros2-path=~/ros2_cc_ws
+```
 
 Cross-compile the workspace
 
-    bash cc_workspace.sh ~/ros2_cc_ws
+```
+bash cc_workspace.sh ~/ros2_cc_ws
+```
 
 The result of the cross-compilation will be found in `~/ros2_cc_ws/install`.
 
 #### Debug options
 
 If you are runing the compilation steps one by one, you can also add a debug flag to the last command:
 
-     bash cc_workspace.sh ~/ros2_cc_ws --debug
+```
+bash cc_workspace.sh ~/ros2_cc_ws --debug
+```
 
 This will let you go inside the Docker container used for compilation rather than starting the compilation process.
 Once you are inside you can start building using any of the following scripts, depending on your target architecture:
 
-     /root/compilation_scripts/compile.sh
-     /root/compilation_scripts/cross_compile.sh
-
+```
+/root/compilation_scripts/compile.sh
+/root/compilation_scripts/cross_compile.sh
+```
+
 Running in this debug mode also allows you to easily modify these scripts.
 Common modifications are the following:
  - Comment the line at the beginning where it clears the build directory.

automatic_cross_compile.sh

@@ -4,7 +4,7 @@
 # TARGET=[raspbian]
 
 # Set env variables
-ROS2_DISTRO="${ROS2_DISTRO:=master}"
+ROS2_DISTRO="${ROS2_DISTRO:=rolling}"
 
 # Check that all variables are defined before start
 if [[ -z "$TARGET" ]]
@@ -70,6 +70,7 @@ vcs export --exact $WORKSPACE_DIR/src > $ROS2_SRCS_HEADS
 CC_CMD="bash $THIS_DIR/cc_workspace.sh $WORKSPACE_DIR --no-it"
 if ! $CC_CMD; then
   echo "Error: the cross-compilation step failed"
+  rm -rf $RESULTS_DIR
   exit 1
 fi
 

build.sh

@@ -1,12 +1,16 @@
 #!/bin/bash
 
+THIS_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+DOCKER_ENVS_DIR=${THIS_DIR}/docker_environments
+
 # build the cross compilation base docker image
-docker build -t ros2_cc_base -f docker_environments/Dockerfile_base .
+docker build -t ros2_cc_base -f ${DOCKER_ENVS_DIR}/Dockerfile_base ${THIS_DIR}
 
-prefix="docker_environments/Dockerfile_"
+prefix="${DOCKER_ENVS_DIR}/Dockerfile_"
 
 # Build all the other dockerfiles in the docker_environments directory
-for dockerfile_name in docker_environments/*
+for dockerfile_name in ${DOCKER_ENVS_DIR}/*
 do
   # Check this is a Dockerfile (i.e. it starts with the prefix)
   if [[ $dockerfile_name != $prefix* ]]; then
@@ -21,4 +25,3 @@ do
     docker build -t ros2_cc_$platform_name -f $dockerfile_name .
   fi
 done
-

cc_workspace.sh

@@ -62,7 +62,7 @@ else
 fi
 
 INTERACTIVE_DOCKER_ARG="-it"
-COMMAND=(/bin/bash -c "source /root/.bashrc && bash $COMPILATION_SCRIPT")
+COMMAND=(/bin/bash -c "bash $COMPILATION_SCRIPT")
 
 for i in "$@"
 do

compilation_scripts/compile.sh

@@ -2,6 +2,8 @@
 
 ## script for compiling the current workspace
 
+source /root/.bashrc
+
 # clear out everything first
 rm -rf build install log
 

compilation_scripts/cross_compile.sh

@@ -4,15 +4,20 @@
 ## accepts as argument the path to the toolchain file to be used
 ## if no argument is provided, it looks for a default toolchain in the current directory.
 
+source /root/.bashrc
 
 if [ -z "$1" ]; then
     TOOLCHAIN_PATH=`pwd`/toolchainfile.cmake
+    echo "Using toolchain ${TOOLCHAIN_PATH}"
 else
     TOOLCHAIN_PATH=$1
 fi
 
+# this is needed to avoid https://stackoverflow.com/questions/72978485
+git config --global --add safe.directory '*'
+
 # clear out everything first
-rm -rf build install log
+#rm -rf build install log
 
 ROS2_SETUP=/root/sysroot/setup.bash
 if [ -f "$ROS2_SETUP" ]; then
@@ -24,11 +29,24 @@ if [ -f "$ARCH_SPECIFIC_TOOLCHAIN" ]; then
     source $ARCH_SPECIFIC_TOOLCHAIN
 fi
 
+# Note: maybe these should be set from the toolchain CMake file, but it didn't work
+PYTHON_LIBRARY_ARG=""
+if [ ! -z ${PYTHON_LIBRARY} ]; then
+    PYTHON_LIBRARY_ARG="-DPYTHON_LIBRARY=${PYTHON_LIBRARY}"
+    echo "Using python library ${PYTHON_LIBRARY_ARG}"
+fi
+PYTHON_INCLUDE_DIR_ARG=""
+if [ ! -z ${PYTHON_INCLUDE_DIR} ]; then
+    PYTHON_INCLUDE_DIR_ARG="-DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE_DIR}"
+    echo "Using python include ${PYTHON_INCLUDE_DIR_ARG}"
+fi
+
 COLCON_CMD="colcon \
                 build \
                 --merge-install \
                 --cmake-force-configure \
                 --cmake-args \
+                ${PYTHON_LIBRARY_ARG} ${PYTHON_INCLUDE_DIR_ARG} \
                 -DCMAKE_TOOLCHAIN_FILE=$TOOLCHAIN_PATH \
                 -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON \
                 -DTHIRDPARTY=ON \

docker_environments/Dockerfile_base

@@ -1,5 +1,5 @@
 
-FROM ubuntu:18.04
+FROM ubuntu:20.04
 LABEL maintainer="Alberto Soragna asoragna at irobot dot com"
 
 # working directory
@@ -35,21 +35,23 @@ ENV LANG en_US.UTF-8
 
 # Setup sources
 RUN apt-get update && apt-get install -y curl gnupg2 lsb-release
-RUN curl http://repo.ros2.org/repos.key | apt-key add -
-RUN sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
-RUN apt-get update
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
 # install development tools and ROS tools
 RUN apt-get update && apt-get install -y \
   build-essential \
   cmake \
   python3-colcon-common-extensions \
-  python-rosdep \
-  python3-pip
+  python3-rosdep \
+  python3-pip \
+  python3-dev \
+  python3-numpy \
+  ros-dev-tools
 
 RUN pip3 install -U \
   argcomplete \
-  git+https://github.com/lark-parser/lark.git@0.7d \
+  git+https://github.com/lark-parser/lark.git \
   importlib-resources
 
 
@@ -59,7 +61,7 @@ RUN pip3 install -U \
 # These packages are required when cross-compiling additional packages once the sysroot already contains the ROS2 SDK
 # add the sysroot python modules to PYTHONPATH
 RUN echo '  \n\
-export PYTHONPATH=/root/sysroot/usr/lib/python3.6/site-packages/:$PYTHONPATH' >> $HOME/.bashrc
+export PYTHONPATH=/root/sysroot/usr/lib/python3.10/site-packages/:$PYTHONPATH' >> $HOME/.bashrc
 
 # TODO: here there is a terrible hack.
 # we have problems when a package depends both on ROS2 SDK and on Python.
@@ -70,4 +72,4 @@ RUN echo '  \n\
 export AMENT_PREFIX_PATH="/root/sysroot/usr;/root/sysroot/usr/bin"' >> $HOME/.bashrc
 
 # copy the compilation scripts into the docker image
-COPY compilation_scripts $HOME/compilation_scripts
+COPY compilation_scripts $HOME/compilation_scripts

docker_environments/Dockerfile_raspbian

@@ -2,18 +2,14 @@
 FROM ros2_cc_base
 LABEL maintainer="Alberto Soragna asoragna at irobot dot com"
 
-
 ###### INSTALL ROS2 REQUIREMENTS
 
 # TODO: numpy should be installed on the RaspberryPi sysroot (Python3.6 version) but pip and build from sources fail
 RUN pip3 install -U \
   numpy
 
-
 ###### INSTALL RASPBIAN CROSS-COMPILATION REQUIREMENTS
 
-# install gcc6 compiler and toolchain
+# install g++ arm compiler
 RUN apt-get update && apt-get install -y \
-  gcc-6 \
-  g++-6 \
-  g++-6-arm-linux-gnueabihf
+  g++-arm-linux-gnueabihf

docker_environments/Dockerfile_ubuntu_arm64

@@ -0,0 +1,7 @@
+
+FROM ros2_cc_base
+LABEL maintainer="Alberto Soragna asoragna at irobot dot com"
+
+# install g++ aarch64 compiler
+RUN apt-get update && apt-get install -y \
+  g++-aarch64-linux-gnu

get_sources/ubuntu_arm64/humble/get_sources.sh

@@ -0,0 +1,16 @@
+#!/bin/bash
+
+if [[ $# -ne 1 ]]; then
+    echo "Illegal number of parameters. Required to specify path."
+    exit 1
+fi
+
+
+THIS_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+WORKSPACE_DIR_PATH="$1"
+
+# Download sources
+REPOS_FILE_PATH="$THIS_DIR/ros2.repos"
+
+cd $WORKSPACE_DIR_PATH
+vcs import src < $REPOS_FILE_PATH