Cross Compiler for HWCTRL package

hwctrl/.gitignore

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+cc_internals/
+log/

hwctrl/CC.md

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+# Cross Compile Instructions
+
+1. Download docker desktop from here (https://www.docker.com/products/docker-desktop) for windows (WSL 2) and OSX.  If you're using linux, I'm sure theres a way to run docker images too.  (following the directions here should work fine: https://docs.docker.com/engine/install/ubuntu/)
+
+2. Run `chmod +x {filename}` on both scripts in this folder
+
+3. Run the setup script from this directory (make sure you run this as root (`sudo`))
+
+4. change directory to your catkin workspace (such as `catkin_ws` or similar). 
+
+5. Run `catkin clean`
+
+6. Run the cross compile command: `{workspace_name}/src/NASA-RMC-2020/hwctrl/cross_compile.sh .` (The dot at the end is important). IT WILL NOT WORK UNLESS YOU RUN IT FROM THE WORKSPACE ROOT! This will take a while on the first run and will take a few GB of space to download the docker image. After that, the build takes around 60 seconds on my computer with 7 cores allocated to docker.
+
+7. Use `scp` to transfer binary to the beaglebone. Eventually I will make a script for this. For now, do it manually. 
+
+#### Note:
+Sometimes theres issues with shared libraries and such on the beaglebone. Usually you just have to simlink some binaries due to differing versions.
+
+### Links:
+https://github.com/ros-tooling/cross_compile

hwctrl/CMakeLists.txt

@@ -104,10 +104,10 @@ add_executable(hwctrl_cal
 
 add_executable(led_node src/led_node.cpp)
 
-if(CATKIN_ENABLE_TESTING)
-  catkin_add_gtest(hwctrl_tests test/testing.cpp src/util.cpp)
-  target_link_libraries(hwctrl_tests ${catkin_LIBRARIES})
-endif()
+# if(CATKIN_ENABLE_TESTING)
+  # catkin_add_gtest(hwctrl_tests test/testing.cpp src/util.cpp)
+  # target_link_libraries(hwctrl_tests ${catkin_LIBRARIES})
+# endif()
 
 # we only want lto if we are in release mode
 if(CMAKE_BUILD_TYPE STREQUAL "Release")

hwctrl/cc_internals/armhf-ubuntu-melodic/build_workspace.sh

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+#!/bin/bash
+set -euxo pipefail
+
+mkdir -p /opt/ros/"${ROS_DISTRO}"
+touch /opt/ros/"${ROS_DISTRO}"/setup.bash
+
+set +ux
+# shellcheck source=/dev/null
+source /opt/ros/"${ROS_DISTRO}"/setup.bash
+set -ux
+colcon build --mixin "${TARGET_ARCH}"-docker \
+  --build-base build_"${TARGET_ARCH}" \
+  --install-base install_"${TARGET_ARCH}"
+chown -R "${OWNER_USER}" .

hwctrl/cc_internals/armhf-ubuntu-melodic/gather_rosdeps.sh

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+#!/bin/bash
+set -euxo pipefail
+
+if [ ! -d ./src ]; then
+  echo "No src/ directory found at $(pwd), did you remember to mount your workspace?"
+  exit 1
+fi
+
+if [ -f "${CUSTOM_SETUP}" ]; then
+  chmod +x "${CUSTOM_SETUP}"
+  pushd "$(dirname "${CUSTOM_SETUP}")"
+  "${CUSTOM_SETUP}"
+  popd
+fi
+
+out_dir=$(dirname "${OUT_PATH}")
+mkdir -p "${out_dir}"
+
+rosdep update
+
+cat > "${OUT_PATH}" <<EOF
+#!/bin/bash
+set -euxo pipefail
+EOF
+
+mapfile -t package_paths < <(colcon list -p)
+
+rosdep install \
+    --os "${TARGET_OS}" \
+    --rosdistro "${ROSDISTRO}" \
+    --from-paths "${package_paths[@]}" \
+    --ignore-src \
+    --reinstall \
+    --default-yes \
+    --skip-keys "${SKIP_ROSDEP_KEYS}" \
+    --simulate \
+  >> /tmp/all-deps.sh
+
+# Grep returns nonzero when there are no matches and we exit on error in this script,
+# but it's ok if there are no matches, so use "|| true" to always return 0
+# Find the non-apt lines and move them as-is to the final script
+grep -v "apt-get install -y" /tmp/all-deps.sh >> "${OUT_PATH}" || true
+
+# Find all apt-get lines from the rosdep output
+# As an optimization, we will combine all such commands into a single command to save time
+grep "apt-get install -y" /tmp/all-deps.sh > /tmp/apt-deps.sh || true
+# awk notes:
+#  "apt-get", "install", "-y", package_name is the fourth column
+#  ORS=' ' makes the output space-separated instead of newline-separated output
+echo "apt-get install -y $(awk '{print $4}' ORS=' ' < /tmp/apt-deps.sh)" >> "${OUT_PATH}"
+
+chmod +x "${OUT_PATH}"
+chown -R "${OWNER_USER}" "${out_dir}"

hwctrl/cc_internals/armhf-ubuntu-melodic/install_rosdeps.sh

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+#!/bin/bash
+set -euxo pipefail
+#[apt] Installation commands:
+apt-get install -y ros-melodic-catkin ros-melodic-roscpp ros-melodic-sensor-msgs ros-melodic-message-runtime ros-melodic-std-msgs ros-melodic-rostest ros-melodic-rospy ros-melodic-message-generation ros-melodic-geometry-msgs 

hwctrl/cc_internals/armhf-ubuntu-melodic/mixins/cross-compile.mixin

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+build:
+  aarch64-docker: {}
+  aarch64-linux:
+    cmake-args:
+      - "-DCMAKE_SYSTEM_NAME=Linux"
+      - "-DCMAKE_SYSTEM_VERSION=1"
+      - "-DCMAKE_SYSTEM_PROCESSOR=aarch64"
+      - "-DCMAKE_C_COMPILER=/usr/bin/aarch64-linux-gnu-gcc"
+      - "-DCMAKE_CXX_COMPILER=/usr/bin/aarch64-linux-gnu-g++"
+      - "-DCMAKE_SYSROOT=$CC_ROOT/sysroot"
+      - "-DCMAKE_TRY_COMPILE_TARGET_TYPE=STATIC_LIBRARY"
+      - "-DCMAKE_FIND_ROOT_PATH=$CC_ROOT/sysroot/root_path:$CC_ROOT/install"
+      - "-DCMAKE_INSTALL_RPATH=$CC_ROOT/sysroot/opt/ros/$ROS_DISTRO/lib"
+      - "-DCMAKE_INSTALL_RPATH_USE_LINK_PATH=TRUE"
+      - "-DCMAKE_FIND_ROOT_PATH_MODE_PROGRAM=NEVER"
+      - "-DCMAKE_FIND_ROOT_PATH_MODE_PACKAGE=ONLY"
+      - "-DCMAKE_FIND_ROOT_PATH_MODE_LIBRARY=ONLY"
+      - "-DCMAKE_FIND_ROOT_PATH_MODE_INCLUDE=ONLY"
+      - "-DPYTHON_SOABI=cpython-36m-aarch64-linux-gnu"
+      - "-DTHREADS_PTHREAD_ARG=0"
+      - "--no-warn-unused-cli"
+  arm-linux:
+    cmake-args:
+      - "-DCMAKE_SYSTEM_NAME=Linux"
+      - "-DCMAKE_SYSTEM_VERSION=1"
+      - "-DCMAKE_SYSTEM_PROCESSOR=armv7l"
+      - "-DCMAKE_C_COMPILER=/usr/bin/arm-linux-gnueabi-gcc"
+      - "-DCMAKE_CXX_COMPILER=/usr/bin/arm-linux-gnueabi-g++"
+      - "-DCMAKE_SYSROOT=$CC_ROOT/sysroot"
+      - "-DCMAKE_FIND_ROOT_PATH=$CC_ROOT/sysroot/root_path:$CC_ROOT/install"
+      - "-DCMAKE_INSTALL_RPATH=$CC_ROOT/sysroot/opt/ros/$ROS_DISTRO/lib"
+      - "-DCMAKE_INSTALL_RPATH_USE_LINK_PATH=TRUE"
+      - "-DCMAKE_FIND_ROOT_PATH_MODE_PROGRAM=NEVER"
+      - "-DCMAKE_FIND_ROOT_PATH_MODE_PACKAGE=ONLY"
+      - "-DCMAKE_FIND_ROOT_PATH_MODE_LIBRARY=ONLY"
+      - "-DCMAKE_FIND_ROOT_PATH_MODE_INCLUDE=ONLY"
+      - "-DPYTHON_SOABI=cpython-36m-arm-linux-gnueabi"
+      - "-DTHREADS_PTHREAD_ARG=0"
+      - "--no-warn-unused-cli"
+  armhf-docker:
+    cmake-args:
+      - "-DCMAKE_C_FLAGS=-Wno-psabi"
+      - "-DCMAKE_CXX_FLAGS=-Wno-psabi"
+      - "--no-warn-unused-cli"
+  armhf-linux:
+    cmake-args:
+      - "-DCMAKE_SYSTEM_NAME=Linux"
+      - "-DCMAKE_SYSTEM_VERSION=1"
+      - "-DCMAKE_SYSTEM_PROCESSOR=arm"
+      - "-DCMAKE_C_COMPILER=/usr/bin/arm-linux-gnueabihf-gcc"
+      - "-DCMAKE_CXX_COMPILER=/usr/bin/arm-linux-gnueabihf-g++"
+      - "-DCMAKE_SYSROOT=$CC_ROOT/sysroot"
+      - "-DCMAKE_C_FLAGS=-Wno-psabi"
+      - "-DCMAKE_CXX_FLAGS=-Wno-psabi"
+      - "-DCMAKE_FIND_ROOT_PATH=$CC_ROOT/sysroot/root_path:$CC_ROOT/install"
+      - "-DCMAKE_INSTALL_RPATH=$CC_ROOT/sysroot/opt/ros/$ROS_DISTRO/lib"
+      - "-DCMAKE_INSTALL_RPATH_USE_LINK_PATH=TRUE"
+      - "-DCMAKE_FIND_ROOT_PATH_MODE_PROGRAM=NEVER"
+      - "-DCMAKE_FIND_ROOT_PATH_MODE_PACKAGE=ONLY"
+      - "-DCMAKE_FIND_ROOT_PATH_MODE_LIBRARY=ONLY"
+      - "-DCMAKE_FIND_ROOT_PATH_MODE_INCLUDE=ONLY"
+      - "-DPYTHON_SOABI=cpython-36m-arm-linux-gnueabihf"
+      - "-DTHREADS_PTHREAD_ARG=0"
+      - "--no-warn-unused-cli"
+  x86_64-docker: {}
+  x86_64-linux: {}

hwctrl/cc_internals/armhf-ubuntu-melodic/mixins/index.yaml

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+mixin:
+  - cross-compile.mixin

hwctrl/cc_internals/armhf-ubuntu-melodic/rosdep.Dockerfile

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+# This Dockerfile describes a simple image with rosdep installed.
+# When `run`, it outputs a script for installing dependencies for a given workspace
+# Requirements:
+#  * mount a colcon workspace at /ws
+#  * see gather_rosdeps.sh for all-caps required input environment
+FROM ubuntu:bionic
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+      dirmngr \
+      gnupg2 \
+    && rm -rf /var/lib/apt/lists/*
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list
+RUN apt-get update && apt-get install --no-install-recommends -y \
+      python-rosdep \
+      python3-colcon-common-extensions \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN rosdep init
+COPY gather_rosdeps.sh /root/
+RUN mkdir -p /ws
+WORKDIR /ws
+ENTRYPOINT ["/root/gather_rosdeps.sh"]

hwctrl/cc_internals/armhf-ubuntu-melodic/runtime.Dockerfile

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+# This dockerfile creates an image containing the runtime environment for the workspace.
+# For now this is a thin layer on top of the sysroot/buildroot environment used to build.
+# It re-sets the entrypoint to a shell instead of a build script, and copies in the install.
+# The eventual plan for it is to only contain `<exec_depends>` of the workspace
+
+ARG BASE_IMAGE
+FROM $BASE_IMAGE
+
+WORKDIR /ros_ws
+
+ARG INSTALL_PATH
+COPY $INSTALL_PATH/ install
+
+RUN echo "source /ros_ws/install/setup.bash" >> ~/.bashrc
+ENTRYPOINT /bin/bash

hwctrl/cc_internals/armhf-ubuntu-melodic/sysroot.Dockerfile

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+# This file describes an image that has everything necessary installed to build a target ROS workspace
+# It uses QEmu user-mode emulation to perform dependency installation and build
+# Assumptions: qemu-user-static directory is present in docker build context
+
+ARG BASE_IMAGE
+FROM ${BASE_IMAGE}
+
+ARG ROS_VERSION
+
+SHELL ["/bin/bash", "-c"]
+
+COPY bin/* /usr/bin/
+
+# Set timezone
+RUN echo 'Etc/UTC' > /etc/timezone && \
+    ln -sf /usr/share/zoneinfo/Etc/UTC /etc/localtime
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+        tzdata \
+        locales \
+    && rm -rf /var/lib/apt/lists/*
+
+# Set locale
+RUN echo 'en_US.UTF-8 UTF-8' >> /etc/locale.gen && \
+    locale-gen && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+ENV LANG en_US.UTF-8
+ENV LC_ALL C.UTF-8
+
+# Add the ros apt repo
+RUN apt-get update && apt-get install --no-install-recommends -y \
+        dirmngr \
+        gnupg2 \
+        lsb-release \
+    && rm -rf /var/lib/apt/lists/*
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' \
+    --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+
+RUN echo "deb http://packages.ros.org/${ROS_VERSION}/ubuntu `lsb_release -cs` main" \
+    > /etc/apt/sources.list.d/${ROS_VERSION}-latest.list
+
+# ROS dependencies
+RUN apt-get update && apt-get install --no-install-recommends -y \
+      build-essential \
+      cmake \
+      python3-colcon-common-extensions \
+      python3-colcon-mixin \
+      python3-dev \
+      python3-pip \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN python3 -m pip install -U \
+    setuptools
+
+# Install some pip packages needed for testing ROS 2
+RUN if [[ "${ROS_VERSION}" == "ros2" ]]; then \
+    python3 -m pip install -U \
+    flake8 \
+    flake8-blind-except \
+    flake8-builtins \
+    flake8-class-newline \
+    flake8-comprehensions \
+    flake8-deprecated \
+    flake8-docstrings \
+    flake8-import-order \
+    flake8-quotes \
+    pytest-repeat \
+    pytest-rerunfailures \
+    pytest \
+    pytest-cov \
+    pytest-runner \
+  ; fi
+
+# Install Fast-RTPS dependencies for ROS 2
+RUN if [[ "${ROS_VERSION}" == "ros2" ]]; then \
+    apt-get update && apt-get install --no-install-recommends -y \
+        libasio-dev \
+        libtinyxml2-dev \
+    && rm -rf /var/lib/apt/lists/* \
+  ; fi
+
+# Run arbitrary user setup (copy data and run script)
+COPY user-custom-data/ custom-data/
+COPY user-custom-setup .
+RUN chmod +x ./user-custom-setup && \
+    ./user-custom-setup && \
+    rm -rf /var/lib/apt/lists/*
+
+# Use generated rosdep installation script
+COPY install_rosdeps.sh .
+RUN chmod +x install_rosdeps.sh
+RUN apt-get update && \
+    ./install_rosdeps.sh && \
+    rm -rf /var/lib/apt/lists/*
+
+# Set up build tools for the workspace
+COPY mixins/ mixins/
+RUN colcon mixin add cc_mixin file://$(pwd)/mixins/index.yaml && colcon mixin update cc_mixin
+# In case the workspace did not actually install any dependencies, add these for uniformity
+COPY build_workspace.sh /root
+WORKDIR /ros_ws
+ENTRYPOINT ["/root/build_workspace.sh"]