nao_ros_cross_compile - How to cross compile your NAO Packages without the NAO Open VM

[Stephan Opfer]

Hi All,

I am trying to compile my own ROS packages for my NAO, but without the Open VM from Aldebaran. The aim is to have the least amount of work on a daily basis.

Following the advice of Vincent I created a github repository, to make cooperation more easy: nao_ros_cross_compile

I am not sure, whether the repository setup is fine for the community to make the best practise way of contributing possible. Please suggest corrections about that.

I also already filed an issue, which states were I currently stuck.

Greetings,
  Stephan

[Stephan Opfer]

Hi All,

I made some progress in "understanding cross compiling". Now I ask myself, whether it is necessary to have ROS pre-compiled for the NAO architecture, in order to link my packages against these libraries.

For libraries like pthread, rt, boost this seems to be necessary, as the Aldebaran Cross Toolchain provides them.

Greetings,
  Stephan

[Stephan Opfer]

Updated Issues at github: https://github.com/carpenoctemcassel/nao_ros_cross_compile

[Vincent Rabaud]

Hi Stephan, I tried something last night (which I'll finalize this weekend and release) that works (the tough part was to get it to work with the 2.1 toolchain: 1.14 was easy).

Big thx to Severin's work and robotpkg ! (and they're not aware of it :) )

Here is how I did it:

- I uncompressed the toolchain archive

- I took the few packages missing in the toolchain (e.g. log4cxx) from http://robotpkg.openrobots.org/packages/bsd/OpenNao-2.1.0.19-i386/All/ and added them at the right place in the toolchain folders (and also modified them to comply to the new paths). That was the solution: getting 3rd party packages to compile with the toolchain was tricky (especially as log4cxx is automake) but getting them already compiled just simplified the process :)

- I used catkin_make_isolated with -DCMAKE_TOOLCHAIN_FILE=whatever/cross-config.cmake

That's it. I'll write a script to do that automatically and work with the two versions. Stay tuned.

--
You received this message because you are subscribed to the Google Groups "ROS Sig Aldebaran" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ros-sig-aldeba...@googlegroups.com.
To post to this group, send email to ros-sig-...@googlegroups.com.
Visit this group at http://groups.google.com/group/ros-sig-aldebaran.
To view this discussion on the web visit https://groups.google.com/d/msgid/ros-sig-aldebaran/c87644aa-455a-4c40-8c8c-0efd145b173c%40googlegroups.com.

For more options, visit https://groups.google.com/d/optout.

[Vincent Rabaud]

And the tutorial is in that section:
http://wiki.ros.org/action/show/nao/Tutorials/Installation#Developing_ROS_in_C.2B-.2B-_for_NAO

It compiles but I have no idea on whether it is runnable on the robot :) Please update the wiki if you have problems or just ping me offline by mail.

[Stephan Opfer]

As I already mailed with vincent, I also want to share it here with the community:

What Vincent describes in the wiki works. Furthermore, I was able to compile the nao_talker example with the help of the steps described there.

The best way for me, was to execute the steps in an extra catkin-workspace. I sourced and compiled that workspace.

Afterwards, I created an extra workspace for my own code and sourced this workspace after the one with from the wiki (with roscpp inside). Then I was able to compile my nao_talker project with the same compile command vincent used in his wiki description.

[Vincent Rabaud]

Cool, please complete the wiki with your whole methodology, especially the part where you set the CMAKE_INSTALL_PREFIX if that got the setup.sh to work for you at the end.

--

You received this message because you are subscribed to the Google Groups "ROS Sig Aldebaran" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ros-sig-aldeba...@googlegroups.com.
To post to this group, send email to ros-sig-...@googlegroups.com.
Visit this group at http://groups.google.com/group/ros-sig-aldebaran.

To view this discussion on the web visit https://groups.google.com/d/msgid/ros-sig-aldebaran/517c478f-2952-4fff-9df6-a6721d3e0bb2%40googlegroups.com.

[Stephan Opfer]

Updated the wiki, accordingly. We will further experiment with this setup on Monday. So stay tuned. :)

[Stephan Opfer]

Hi Vincent,

Concerning the copys of the external third party libraries in the devel_isolated folder. Shouldn't the command be

cp $TOOLCHAIN2/libnaoqi-sysroot/lib/libconsole_bridge.so ./devel_isolated/lib/
cp $TOOLCHAIN2/libnaoqi-sysroot/lib/liblog4cxx.so* ./devel_isolated/lib/
cp $TOOLCHAIN2/libnaoqi-sysroot/lib/liblz4.so* ./devel_isolated/lib/

instead of 

cp $TOOLCHAIN2/libnaoqi-sysroot/lib/libconsole_bridge.so ./devel_isolated/ls/
cp $TOOLCHAIN2/libnaoqi-sysroot/lib/liblog4cxx.so* ./devel_isolated/ls/
cp $TOOLCHAIN2/libnaoqi-sysroot/lib/liblz4.so* ./devel_isolated/ls/

Greetings,
  Stephan

[Vincent Rabaud]

yes, you are right. Also, the tutorial was just explaining how to get roscpp to compile. Don't hesitate to change that to something higher-level in ROS (like tf2 maybe ? ), in which case you would need to download more 3rd party libraries from robotpkg.

--

You received this message because you are subscribed to the Google Groups "ROS Sig Aldebaran" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ros-sig-aldeba...@googlegroups.com.
To post to this group, send email to ros-sig-...@googlegroups.com.
Visit this group at http://groups.google.com/group/ros-sig-aldebaran.

To view this discussion on the web visit https://groups.google.com/d/msgid/ros-sig-aldebaran/acf16c56-4545-47d0-954f-3ccc3a11f85c%40googlegroups.com.