Linux交叉编译(x86-arm64)和ROS2项目交叉编译

#!/bin/bash
mkdir -pv rootfs
sudo tar -xvpzf ubuntu-base-22.04.3-base-arm64.tar.gz -C rootfs
sudo cp -v /etc/resolv.conf rootfs/etc/
sudo sed -i "s/ports.ubuntu.com/mirrors.huaweicloud.com/g" rootfs/etc/apt/sources.list
sudo cp -v ros-archive-keyring.gpg rootfs/usr/share/keyrings/
echo "deb [arch=arm64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu jammy main" | sudo tee rootfs/etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
sudo apt install -y gcc-aarch64-linux-gnu g++-aarch64-linux-gnu qemu-user-static
#可以定制化安装一些基础类库的软件和修改符号链接
sudo bash update.sh

#updates.sh
#!/bin/bash
sudo cp -v config.sh rootfs/root/
echo 'bash /root/config.sh' | bash mount.sh -m rootfs
sudo rm -v rootfs/root/config.sh
CURRENT_PATH=$(realpath ./)
echo "Current path: $CURRENT_PATH"
#config.sh
#!/bin/bash
apt update
apt install -y --no-install-recommends   build-essential cmake ros-humble-desktop ros-dev-tools libgoogle-glog-dev libprotobuf-dev  python3.10-dev libssl-dev libpcl-dev libc6-dev


# 转换绝对路径软链接为相对路径的脚本

TARGET_DIR="/usr/lib" # 指定目标目录

# 使用find命令查找所有的软链接
find "${TARGET_DIR}" -type l | while read -r symlink; do
  # 获取软链接指向的目标
  target=$(readlink "${symlink}")
  # 确定链接是否为绝对路径
  if [[ "${target}" = /* ]]; then
    # 计算相对路径
    relative_target=$(realpath --relative-to="$(dirname "${symlink}")" "${target}")
    # 删除原有软链接
    rm "${symlink}"
    # 创建新的软链接，使用相对路径
    ln -sv "${relative_target}" "${symlink}"
    echo "链接已更新：${symlink} -> ${relative_target}"
  fi
done

echo "所有绝对路径软链接已转换为相对路径。"
#mount.sh
#!/bin/bash
 
function mnt() {
    echo "MOUNTING"
#    sudo chown -R root:root ${2}
    sudo mount -t proc /proc ${2}/proc
    sudo mount -t sysfs /sys ${2}/sys
    sudo mount -o bind /dev ${2}/dev
 
    sudo chroot ${2}
}
 
function umnt() {
    echo "UNMOUNTING"
	sudo sync
	sleep 3
    sudo umount ${2}/proc
    sudo umount ${2}/sys
    sudo umount ${2}/dev
 
}
 
 
if [ "$1" == "-m" ] && [ -n "$2" ] ;
then
    mnt $1 $2
    umnt $1 $2
elif [ "$1" == "-u" ] && [ -n "$2" ];
then
    umnt $1 $2
else
    echo ""
    echo "Either 1'st, 2'nd or both parameters were missing"
    echo ""
    echo "1'st parameter can be one of these: -m(mount) OR -u(umount)"
    echo "2'nd parameter is the full path of rootfs directory(with trailing '/')"
    echo ""
    echo "For example: ch-mount -m /media/sdcard/"
    echo ""
    echo 1st parameter : ${1}
    echo 2nd parameter : ${2}
fi

set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR aarch64)

set(CMAKE_C_COMPILER /usr/bin/aarch64-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER /usr/bin/aarch64-linux-gnu-g++)
set(CMAKE_C_COMPILER_WORKS TRUE)
set(CMAKE_CXX_COMPILER_WORKS TRUE)

set(CMAKE_SYSROOT /home/lhf/cross/rootfs)
set(CMAKE_FIND_ROOT_PATH ${CMAKE_SYSROOT};/home/lhf/work/ws)

set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

FROM --platform=linux/arm64 ros:humble-ros-base-jammy AS ros2-sdk
RUN apt-get update && apt-get install -y --no-install-recommends \
    python3-dev \
    ros-humble-cv-bridge \
    ros-humble-pcl-conversions \
    ros-humble-pcl-msgs \
    ros-humble-pcl-ros \
    ros-humble-image-transport \
    ros-humble-lifecycle \
    libpcl-ros-dev \
    libpcl-dev \
    python3-vtk9 \
    vtk9 \
    && rm -rf /var/lib/apt/lists/*

# ROS Humble cross compiling environment for ARM64 on Linux.
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR aarch64)
set(CMAKE_SYSROOT $ENV{SYSROOT})

set(CMAKE_C_COMPILER /usr/bin/aarch64-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER /usr/bin/aarch64-linux-gnu-g++)

set(CMAKE_FIND_ROOT_PATH
    /usr/aarch64-linux-gnu;${SYSROOT};/opt/ros/humble;$ENV{ROS_PACKAGE_PATH})

set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

docker run --rm \
    -v $(pwd):/workspace \
    --workdir=/workspace \
    -e ROS_PACKAGE_PATH=/opt/ros_pkgs \
    ros-cross-build:humble \
    colcon build \
    --packages-ignore to_be_ignored \
    --cmake-args \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_TOOLCHAIN_FILE=/toolchain.cmake \
    --packages-up-to your-package

/etc/apt/sources.list.d$ cat ubuntu.sources
Types: deb
URIs: http://mirrors.aliyun.com/ubuntu/
Suites: noble noble-updates noble-backports
Components: main restricted universe multiverse
Architectures: amd64
Signed-By: /usr/share/keyrings/ubuntu-archive-keyring.gpg

Types: deb
URIs: http://security.ubuntu.com/ubuntu/
Suites: noble-security
Components: main restricted universe multiverse
Architectures: amd64
Signed-By: /usr/share/keyrings/ubuntu-archive-keyring.gpg

Types: deb
URIs: http://mirrors.aliyun.com/ubuntu-ports/
Suites: noble noble-updates noble-backports
Components: main universe restricted multiverse
Architectures: arm64
Signed-By: /usr/share/keyrings/ubuntu-archive-keyring.gpg

## Ubuntu security updates. Aside from URIs and Suites,
## this should mirror your choices in the previous section.
Types: deb
URIs: http://mirrors.aliyun.com/ubuntu-ports/
Suites: noble-security
Components: main universe restricted multiverse
Architectures: arm64
Signed-By: /usr/share/keyrings/ubuntu-archive-keyring.gpg

## CMAKE
cmake -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++ ..
## Make
wget https://www.nano-editor.org/dist/v6/nano-6.2.tar.xz
tar zxvf nano-6.2.tar.xz
cd nano-6.2
#  CFLAGS="-static-libgcc -static" CXXFLAGS="-static-libgcc -static-libstdc++ -static" LDFLAGS="-static" could be removed if you don't want to build static binary
CC=aarch64-linux-gnu-gcc CXX=aarch64-linux-gnu-g++ CFLAGS="-static-libgcc -static" CXXFLAGS="-static-libgcc -static-libstdc++ -static" LDFLAGS="-static" ./configure --host=aarch64-linux-gnu --build=x86_64-pc-linux-gnu
make
# check the binary
ls src/nano