1.问题现象前期开发, 代码都是在开发板上编译(高性能Soc rk3588, Nvidi Jetson Nx/Orin), 运行, 调试; 编译速度2~3分钟, 可以接受随着项目功能变多, 有越来越多的依赖库: 如ros2 公共topic msg库, 公共lib库, 导致编译依赖项变多, 编译速度变慢; 现在在开发板上编译, 第一次编译时间由之前的2分钟, 到现在要15分钟, 太浪费时间了由于在新平台独立开发的项目, 也要集成到CI/CD中, 于是重构了之前的x86 ros2交叉编译方法; 实现一键docker部署, 减少耦合, 优化编译流程步骤, 降低研发人员出错率2.编译方法汇总对比编译方法优点缺点用途开发板上编译1.简单快捷1.编译速度慢2.对开发板有硬件资源有要求1.内存4G~8G: 代码工程量大时, 提示内存不够2.磁盘存储空间: 源代码中间生成物 打包生成结果3.系统: 需安装与支持 gcc/g命令3.工程与代码量大时: 编译耗时特长1.前期: 原型demo验证功能验证qemuarm64 docker编译1.简单快捷1.消耗资源高, 编译速度较慢, 如果使用高性能服务器(32线程,64G内存以上)编译速度比开发快一些2.编译线程数量要限制在4~8线程,内存也要限制,不然容易卡顿不动3.代码量大时: 编译耗时特长4.需要制作rootfs根文件, 如果依赖平台独有库nvidia cuda, rk3588 rockchip库, 需要配置1.少量代码做CI/CD集成x86_64 – arm64交叉编译1.编译速度快1.环境配置/部署难度较高: 需要开发人员熟悉gcc/g编译原理,流程2.熟悉arm64 根文件系统制作3.遇到第3方库编译问题时,解决各种环境/编译/配置问题, 如: ros, opencv, cuda, yaml-cpp4.使用cmake做交叉编译,还需要熟悉cmake配置5.跨平台编译时(x86_64和arm64), 需要各模块make/cmake适配编译选项1.代码工程量大, 做CI/CD版本发布开发板上编译50分钟的x86交叉编译只需15分钟故还是推荐有条件的, 完善x86交叉编译流程, 提升整体效率3.ros2_humble_x86交叉编译方法1.制作arm64 rootfs根文件系统使用命令dd或rsync,tar,cp, 备份arm64开发板的根文件系统# dd命令备份根文件示例ddif/dev/nvme0p1p8of/mnt/disk/rootfs.img2.主机安装ros2 和 交叉编译工具# 1.安装ros2 和 colcon buildsudoaptinstall-ypython3-colcon-common-extensions ros-humble-desktop# 2.安装交叉编译工具sudoaptinstallg-aarch64-linux-gnu gcc-aarch64-linux-gnu3.cmake交叉编译配置文件toolchain-aarch64.cmakeset(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_LINKER aarch64-linux-gnu-ld) # 设置目标系统的根目录 set(ROOTFS ${sysRootfs}) set(CMAKE_SYSROOT ${ROOTFS}) set(CMAKE_FIND_ROOT_PATH ${ROOTFS}/opt/ros/${ROS_DISTRO} ${INSTALL_PATH} ) SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) # 禁用rootfs的编译文件 # SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM BOTH) # host rootfs/bin # 设置查找库和头文件的路径 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY) # 设置 Python 路径 set(PYTHON_LIBRARY ${ROOTFS}/usr/lib/aarch64-linux-gnu/libpython3.10.so) set(PYTHON_INCLUDE_DIR ${ROOTFS}/usr/include/python3.10) link_directories(${ROOTFS }/usr/lib/aarch64-linux-gnu) list(APPEND CMAKE_PREFIX_PATH ${ROOTFS}/opt/ros/${ROS_DISTRO} ${INSTALL_PATH} )4.编译指令source/opt/ros/humble/setup.bash colcon build\--cmake-args\-DsysRootfs${sysRootfs}\-DworkSpaceDir${workSpaceDir}\-DCMAKE_TOOLCHAIN_FILE${sourceDir}/toolchain-aarch64.cmake4.交叉编译示例1.下载测试ros2代码下载官方ros2 example代码git clone https://github.com/ros2/examples.git下载自己编写的ros示例:https://gitee.com/zero2200/7_ros-robot-example保留:src/2_cpp_base # 依赖commonsrc/common # 公共topic2.编译命令colcon build --cmake-args\-DsysRootfs/rootfs/ubuntu22_ros2_humble_arm64\-DworkSpaceDir/home/liuj/3_work/8_ros2_cross_build\-DPYTHON_SOABIcpython-310m-aarch64-linux-gnu\-DCMAKE_TOOLCHAIN_FILE/home/liuj/3_work/8_ros2_cross_build/toolchain-aarch64.cmake输出日志:colcon build --cmake-args -D sysRootfs/rootfs/ubuntu22_ros2_humble_arm64 -D workSpaceDir/home/liuj/3_work/8_ros2_cross_build -D PYTHON_SOABIcpython-310m-aarch64-linux-gnu -D CMAKE_TOOLCHAIN_FILE/home/liuj/3_work/8_ros2_cross_build/toolchain-aarch64.cmake WARNING: Package name 2_cpp_base does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. [0.295s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces: examples_rclcpp_minimal_service is in: /opt/ros/humble examples_rclcpp_minimal_composition is in: /opt/ros/humble examples_rclcpp_minimal_action_server is in: /opt/ros/humble examples_rclpy_executors is in: /opt/ros/humble examples_rclcpp_minimal_timer is in: /opt/ros/humble examples_rclpy_minimal_action_client is in: /opt/ros/humble examples_rclpy_minimal_service is in: /opt/ros/humble examples_rclcpp_minimal_action_client is in: /opt/ros/humble examples_rclcpp_minimal_publisher is in: /opt/ros/humble examples_rclpy_minimal_action_server is in: /opt/ros/humble examples_rclcpp_multithreaded_executor is in: /opt/ros/humble examples_rclpy_minimal_subscriber is in: /opt/ros/humble examples_rclpy_minimal_client is in: /opt/ros/humble examples_rclpy_minimal_publisher is in: /opt/ros/humble examples_rclcpp_minimal_client is in: /opt/ros/humble If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time. If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur. If you understand the risks and want to override a package anyways, add the following to the command line: --allow-overriding examples_rclcpp_minimal_action_client examples_rclcpp_minimal_action_server examples_rclcpp_minimal_client examples_rclcpp_minimal_composition examples_rclcpp_minimal_publisher examples_rclcpp_minimal_service examples_rclcpp_minimal_timer examples_rclcpp_multithreaded_executor examples_rclpy_executors examples_rclpy_minimal_action_client examples_rclpy_minimal_action_server examples_rclpy_minimal_client examples_rclpy_minimal_publisher examples_rclpy_minimal_service examples_rclpy_minimal_subscriber This may be promoted to an error in a future release of colcon-override-check. Starting 2_cpp_base Starting common Starting examples_rclcpp_async_client Starting examples_rclcpp_cbg_executor Starting examples_rclcpp_minimal_action_client Starting examples_rclcpp_minimal_action_server Starting examples_rclcpp_minimal_client Starting examples_rclcpp_minimal_composition Starting examples_rclcpp_minimal_publisher Starting examples_rclcpp_minimal_service Starting examples_rclcpp_minimal_timer Starting examples_rclcpp_multithreaded_executor Starting examples_rclpy_executors Starting examples_rclpy_guard_conditions Starting examples_rclpy_minimal_action_client Starting examples_rclpy_minimal_action_server Finished 2_cpp_base [1.08s] Finished examples_rclcpp_async_client [1.08s] Finished examples_rclcpp_cbg_executor [1.09s] Finished examples_rclcpp_multithreaded_executor [1.08s] Finished examples_rclcpp_minimal_timer [1.10s] Finished examples_rclcpp_minimal_client [1.13s] Finished examples_rclcpp_minimal_action_server [1.15s] Starting examples_rclpy_minimal_client Starting examples_rclpy_minimal_publisher Starting examples_rclpy_minimal_service Starting examples_rclpy_minimal_subscriber Starting examples_rclpy_pointcloud_publisher Starting launch_testing_examples Finished examples_rclcpp_minimal_action_client [1.19s] Finished examples_rclcpp_minimal_service [1.19s] Finished examples_rclcpp_minimal_publisher [1.21s] Finished examples_rclcpp_minimal_composition [1.23s] Finished common [1.26s] Finished examples_rclpy_guard_conditions [2.66s] Finished examples_rclpy_executors [2.71s] Finished examples_rclpy_minimal_action_server [2.70s] Finished examples_rclpy_minimal_action_client [2.72s] Finished examples_rclpy_minimal_client [1.86s] Finished examples_rclpy_pointcloud_publisher [1.86s] Finished examples_rclpy_minimal_service [1.88s] Finished launch_testing_examples [1.87s] Finished examples_rclpy_minimal_subscriber [1.88s] Finished examples_rclpy_minimal_publisher [1.90s] Summary: 22 packages finished [3.31s]3.确认文件file install/examples_rclcpp_minimal_publisher/lib/examples_rclcpp_minimal_publisher/publisher_member_function/home/liuj/3_work/8_ros2_cross_build/install/examples_rclcpp_minimal_publisher/lib/examples_rclcpp_minimal_publisher/publisher_member_function: ELF 64-bit LSB pie executable,ARM aarch64, version 1 (GNU/Linux), dynamically linked, interpreter /lib/ld-linux-aarch64.so.1, BuildID[sha1]7e90bbc22cb0565830d022d128b2ba3ccd2ae605, for GNU/Linux 3.7.0, not stripped拷贝到arm64开发板, 运行成功5.总结制作交叉编译环境, 本质还是得熟悉gcc/g 编译原理, 流程. 能够shell脚本 gcc/g命令 , 实现交叉编译当移植到cmake,meson,bazel等构建工具, 才能定位, 独立解决问题实测ros2 foxy, humble交叉编译验证通过实测docker, 虚拟机vmwarevirtualbox, wsl2 交叉编译环境, 验证通过实测 英伟达nvidia jetson orin/nx cuda交叉编译通过瑞芯微rk3588,rk3568 npu视频编码加速交叉通过拷贝到开发板运行正常