ROS aarch64 crosscompiler

ROS melodic cross compile for arm64/aarch64 architecture

Crosscompiled ROS components

• ros_comm
• common_msgs
• sensor_msgs
• image_transport
• vision_opencv
• tf

Install build dependencies

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

git clone https://github.com/teshanshanuka/ROS_crosscompile.git
cd ROS_crosscompile
./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 aarch64 by using gcc-aarch64-linux-gnu or g++-aarch64-linux-gnu

Basic ROS stuff depends on following packages

• bzip2 1.0.6
• console_bridge
• lz4
• poco 1.8.0.1
• tinyxml2
• python 2.7
• boost 1.65.1
• opencv 3.2.0
• eigen 3.3.4
• turbojpeg 1.5.2
• yamlcpp
• openssl
• log4cxx (not croscompiling)
• gpgrt (not croscompiling)
• gpgme (not croscompiling)

The script file build_dependencies.sh will cross compile above libraries into the path specified by INSTALL_PREFIX

export INSTALL_PREFIX="/desired/install/directory"
./scripts/build_dependencies.sh

Cross Compile ROS

export INSTALL_PREFIX="/desired/install/directory"
./scripts/xcompile.sh

TODO

1. Needed replacing /usr/aarch64-linux-gnu/lib/ with /usr/lib/aarch64-linux-gnu on my target. Can it be avoided?
2. Crosscompile log4cxx - ROS nao guide which didn't work
3. Crosscompile gpgme and gpg-error - Similar problem on gnupg mailing list