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ROS2 project from development to deployment, Part 4: Cross Compiler

In progress

Build package for nvidia jetson using cross compiler
using colcon mixin to set cross compiler flags

Download and install cross compiler

Download toolchain from jetpack 6.2

toolchain

Every jetpack has it own toolchain, so make sure to download the correct one.

The toolchain url can be build from

get jetson linux version
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cat /etc/nv_tegra_release
#
# R36 (release), REVISION: 4.3,

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https://developer.nvidia.com/embedded/jetson-linux-r3643

Build rootfs

Build rootfs using Debootstrap

config mixin

mixin file
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mixins:
  cross-arm64:
    build-args:
      cmake:
        - -DCMAKE_TOOLCHAIN_FILE=/path/to/aarch64_toolchain.cmake
        - -DCMAKE_CXX_FLAGS="--sysroot=/path/to/arm64/sysroot"
        - -DCMAKE_C_FLAGS="--sysroot=/path/to/arm64/sysroot"
        - -DCMAKE_EXE_LINKER_FLAGS="--sysroot=/path/to/arm64/sysroot"
register mixing file
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colcon mixin add cross_compile ./cross_compile.mixin
colcon mixin update
usage
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colcon build --mixin cross-arm64

Demo

aarch64.cmake
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set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR aarch64)  # Change to match your target architecture
set(CROSS_COMPILER_PATH /home/user/cross_compilers/aarch64--glibc--stable-2022.08-1)
# Set cross-compiler paths
set(CMAKE_C_COMPILER ${CROSS_COMPILER_PATH}/bin/${CMAKE_SYSTEM_PROCESSOR}-buildroot-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER ${CROSS_COMPILER_PATH}/bin/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu-g++)
set(CMAKE_SYSROOT /home/user/rootfs/ubuntuRootFS)  # Set to your root filesystem

# Set where CMake should look for libraries and headers
set(CMAKE_FIND_ROOT_PATH ${CMAKE_SYSROOT} ${CMAKE_SYSROOT}/usr ${CMAKE_SYSROOT}/usr/local)

# Only search inside the target rootfs
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

# ROS 2 paths
set(AMENT_PREFIX_PATH ${CMAKE_SYSROOT}/opt/ros/humble)
set(CMAKE_PREFIX_PATH ${AMENT_PREFIX_PATH})
`
Humble ARM64 cross compiler
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mixins:
  cross-arm64:
    build-args:
      cmake:
        - -DCMAKE_TOOLCHAIN_FILE=/opt/cross_toolchain/aarch64.cmake