ROS_ARM_CROSSCOMPILE

ROS indigo cross compile for ARM architecture

Install build dependencies

First. you have to install build dependencies. Start with cloning this repositiory.

git clone https://github.com/mktk1117/ROS_ARM_CROSSCOMPILE.git
cd ROS_ARM_CROSSCOMPILE
source scripts/install_dependencies.sh

Cross compile dependencies

ROS depends on some libraries. You also have to cross compile these libraries. The script cross compiles for ARM architecture by using arm-linux-gnueabihf-gcc or g++.
It compiles

• boost1.55
• OpenCV2.4.9
• bzip2-1.0.6.
• lz4
• console_bridge
• Poco1.8.0.1
• python 2.7
• tinyXML

The script file build_dependencies.sh will cross compile above libraries into ROS_ARM_CROSSCOMPILE/arm-linux.

cd /your workspace/ROS_ARM_CROSSCOMPILE
source scripts/build_dependencies.sh

Cross Compile ROS

cd ros_indigo
catkin init
catkin config --merge-devel # this is important, otherwise you may get weird linking errors
catkin config --merge-install
catkin config --install
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCROSS_ROOT=/your ws/ROS_ARM_CROSSCOMPILE -DCMAKE_TOOLCHAIN_FILE=/your ws/ROS_ARM_CROSSCOMPILE/ros_indigo/rostoolchain.cmake
rosinstall_generator ros_comm common_msgs sensor_msgs image_transport vision_opencv tf --rosdistro indigo --deps --wet-only --tar > ros-indigo-wet.rosinstall
wstool init -j8 src ros-indigo-wet.rosinstall
cd src
git clone https://github.com/catkin/catkin_simple.git
git clone https://github.com/mktk1117/glog_catkin.git
cd glog_catkin
git checkout arm-crosscompile
git pull
cd ../../
touch src/geometry2/tf2/test/CATKIN_IGNORE  # to avoid error
touch src/vision_opencv/image_geometry/test/CATKIN_IGNORE
touch src/geometry/tf/test/CATKIN_IGNORE
touch src/ros_comm/message_filters/test/CATKIN_IGNORE
catkin build