Damme at 21:16, 20 June 2026

2026-06-20T21:16:26Z

← Older revision		Revision as of 21:16, 20 June 2026
Line 1:		Line 1:
	Only use ~~these is~~ you are running bare metal custom build! Otherwise go to the official wiki, this is just a backup for personal reference!		Only use this wiki if you are running bare metal custom build! Otherwise go to the official wiki, this is just a backup for personal reference!

Damme at 21:15, 20 June 2026

2026-06-20T21:15:39Z

← Older revision		Revision as of 21:15, 20 June 2026
Line 1:		Line 1:
	Warning! You are in for a treat! :D - You have been warned. But reward is good, from 3250sec with docker buildx using qemu to 304s on my machine (Clean build)		Only use these is you are running bare metal custom build! Otherwise go to the official wiki, this is just a backup for personal reference!


			Warning! You are in for a treat! :D - You have been warned. But reward is good, from 3250sec with docker buildx using qemu to 304s on my machine (Clean build)

Damme: Created page with "Warning! You are in for a treat! :D - You have been warned. But reward is good, from 3250sec with docker buildx using qemu to 304s on my machine (Clean build) = Instructions = These instructions are made for Ubuntu 20.04.6 LTS '''`PLEASE DONT RUN ANY SCRIPTS AS SUDO / ROOT! MY SCRIPTS ARE NOT "SAFE"!`''' Instead give yourself write-access to /opt, `sudo chmod 777 /opt/` for example. ===== INSTALL ROS https://wiki.ros.org/no..."

2026-06-20T20:46:06Z

Created page with "Warning! You are in for a treat! :D - You have been warned. But reward is good, from 3250sec with docker buildx using qemu to 304s on my machine (Clean build) = Instructions = These instructions are made for Ubuntu 20.04.6 LTS '''<code><big>PLEASE DONT RUN ANY SCRIPTS AS SUDO / ROOT! MY SCRIPTS ARE NOT "SAFE"!</big></code>''' Instead give yourself write-access to /opt, <code>sudo chmod 777 /opt/</code> for example. ===== INSTALL ROS https://wiki.ros.org/no..."

New page

Warning! You are in for a treat! :D - You have been warned. But reward is good, from 3250sec with docker buildx using qemu to 304s on my machine (Clean build)

= Instructions =
These instructions are made for Ubuntu 20.04.6 LTS

'''<code><big>PLEASE DONT RUN ANY SCRIPTS AS SUDO / ROOT! MY SCRIPTS ARE NOT "SAFE"!</big></code>'''

Instead give yourself write-access to /opt, <code>sudo chmod 777 /opt/</code> for example.

 

===== INSTALL ROS https://wiki.ros.org/noetic/Installation/Ubuntu =====

----

==== Update source files ====
* Add '''<code>[arch=amd64]</code>''' after deb on each line in <code>/etc/apt/sources.list</code> (This should be changed to your current machines native arch!)
* Add '''<code>[arch=amd64,arm64]</code>''' after deb in <code>/etc/apt/sources.list.d/ros-latest.list</code>

* Create <code>/etc/apt/sources.list.d/arm-cross-compile-sources.list</code>
<syntaxhighlight lang="bash">
deb [arch=arm64] http://ports.ubuntu.com/ focal main restricted
deb [arch=arm64] http://ports.ubuntu.com/ focal-updates main restricted
deb [arch=arm64] http://ports.ubuntu.com/ focal universe
deb [arch=arm64] http://ports.ubuntu.com/ focal-updates universe
deb [arch=arm64] http://ports.ubuntu.com/ focal multiverse
deb [arch=arm64] http://ports.ubuntu.com/ focal-updates multiverse
deb [arch=arm64] http://ports.ubuntu.com/ focal-backports main restricted universe multiverse
</syntaxhighlight>

==== Update and install packages ====
<syntaxhighlight lang="bash">
sudo apt update
sudo dpkg --add-architecture arm64

sudo apt install crossbuild-essential-arm64 parallel
</syntaxhighlight>

==== Clone open_mower_ros repository ====
<syntaxhighlight lang="bash">
cd /opt/

git clone https://github.com/ClemensElflein/open_mower_ros
git submodule update --init --recursive
cd /opt/open_mower_ros
</syntaxhighlight>

==== Setup sysroot and prepare open_mower_ros ====

We will use CMAKE_SYSROOT /opt/sysroot_arm64 and /opt/sysroot_arm64_download - change these accordingly in the files for your needs. Total size to download is about 200MB and extracted is ~1.1GB. Change the number of download threads as desired.

===== Create <code>toolchain.cmake</code> =====
<syntaxhighlight lang="cmake">
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_VERSION 1)
set(CMAKE_SYSTEM_PROCESSOR aarch64)

# Specify the cross compiler
set(CMAKE_C_COMPILER aarch64-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER aarch64-linux-gnu-g++)

#set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -static")
#set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -static")

# Specify the target system root
set(CMAKE_SYSROOT /opt/sysroot_arm64)

set(SYSROOT_PATH ${CMAKE_SYSROOT})

unset(CMAKE_SYSTEM_PREFIX_PATH)
list(APPEND CMAKE_SYSTEM_PREFIX_PATH ${CMAKE_SYSROOT}/opt/ros/noetic)

set(CMAKE_PREFIX_PATH ${CMAKE_SYSROOT}/opt/ros/noetic ${CMAKE_SYSROOT}/opt/ros/noetic/share)
set(CMAKE_LIBRARY_PATH ${CMAKE_SYSROOT}/opt/ros/noetic/lib)
set(CMAKE_INCLUDE_PATH ${CMAKE_SYSROOT}/opt/ros/noetic/include)
set(CMAKE_FIND_ROOT_PATH ${CMAKE_SYSROOT})

# Search for programs in the build host directories
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)

# For libraries and headers in the target directories
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

set(ENV{PKG_CONFIG_PATH} ${CMAKE_SYSROOT}/usr/lib/aarch64-linux-gnu/pkgconfig/)
</syntaxhighlight>

===== Create <code>1_setup-sysroot.bash</code> =====
<syntaxhighlight lang="bash">
#!/bin/bash

set -e

SYSROOT=/opt/sysroot_arm64
DOWNLOADDIR=/opt/sysroot_downloads
PARALLELDOWNLOAD=6

#########################

rm -rf $SYSROOT
mkdir -p $SYSROOT
mkdir -p $DOWNLOADDIR

# Link might not be needed? Cant remember :D
ln -s $SYSROOT/usr/lib $SYSROOT/lib

install_package() {
# for PKG in "${PACKAGES[@]}"; do
PKG=$1
URL=$(apt-get download --print-uris $PKG | cut -d\' -f2)
if [ -n "$URL" ]; then
echo "Downloading $PKG ($URL)"
wget -q -nc $URL -P $DOWNLOADDIR && dpkg -x $DOWNLOADDIR/$(basename $URL) $SYSROOT
# --show-progress
# dpkg -x $DOWNLOADDIR/$(basename $URL) $SYSROOT
echo "Done installing $PKG"
else
echo "$PKG NOT FOUND!"
fi
# done
}

export -f install_package
export DOWNLOADDIR
export SYSROOT

# read packages.txt into PACKAGES
while IFS= read -r line; do
PACKAGES+=("$line")
done < "packages.txt"

parallel -j $PARALLELDOWNLOAD install_package ::: "${PACKAGES[@]}"

echo "Done!"
</syntaxhighlight>

===== Download <code>packages.txt</code> # Focal Ubuntu 20.04.6 LTS! =====
<syntaxhighlight lang="bash">
wget https://gist.githubusercontent.com/Damme/3161f92ccadf452b4d5f3eee32da097e/raw/8df0172858e95da76091b04f8492705fc0cf0396/packages.txt -O packages.txt
</syntaxhighlight>

===== Create <code>2-fix-links-cmake.bash</code> =====
<syntaxhighlight lang="bash">
#!/bin/bash

SYSROOT=/opt/sysroot_arm64

echo "Linking some missing library links, broken links /hardcoded to /lib/..."
ln -sfv $SYSROOT/usr/lib/aarch64-linux-gnu/libPocoFoundation.so.62 $SYSROOT/usr/lib/aarch64-linux-gnu/libPocoFoundation.so
ln -sfv $SYSROOT/usr/lib/aarch64-linux-gnu/blas/libblas.so.3 $SYSROOT/usr/lib/aarch64-linux-gnu/libblas.so.3
ln -sfv $SYSROOT/usr/lib/aarch64-linux-gnu/lapack/liblapack.so.3 $SYSROOT/usr/lib/aarch64-linux-gnu/liblapack.so.3

ln -sfv $SYSROOT/lib/aarch64-linux-gnu/librt.so.1 $SYSROOT/usr/lib/aarch64-linux-gnu/librt.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libpthread.so.0 $SYSROOT/usr/lib/aarch64-linux-gnu/libpthread.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libBrokenLocale.so.1 $SYSROOT/usr/lib/aarch64-linux-gnu/libBrokenLocale.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libanl.so.1 $SYSROOT/usr/lib/aarch64-linux-gnu/libanl.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libblkid.so.1.1.0 $SYSROOT/usr/lib/aarch64-linux-gnu/libblkid.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libbz2.so.1.0 $SYSROOT/usr/lib/aarch64-linux-gnu/libbz2.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libexpat.so.1.6.11 $SYSROOT/usr/lib/aarch64-linux-gnu/libexpat.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libgpg-error.so.0 $SYSROOT/usr/lib/aarch64-linux-gnu/libgpg-error.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libkeyutils.so.1 $SYSROOT/usr/lib/aarch64-linux-gnu/libkeyutils.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/liblzma.so.5.2.4 $SYSROOT/usr/lib/aarch64-linux-gnu/liblzma.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libm.so.6 $SYSROOT/usr/lib/aarch64-linux-gnu/libm.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libmount.so.1.1.0 $SYSROOT/usr/lib/aarch64-linux-gnu/libmount.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libnsl.so.1 $SYSROOT/usr/lib/aarch64-linux-gnu/libnsl.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libnss_compat.so.2 $SYSROOT/usr/lib/aarch64-linux-gnu/libnss_compat.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libnss_dns.so.2 $SYSROOT/usr/lib/aarch64-linux-gnu/libnss_dns.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libnss_files.so.2 $SYSROOT/usr/lib/aarch64-linux-gnu/libnss_files.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libnss_hesiod.so.2 $SYSROOT/usr/lib/aarch64-linux-gnu/libnss_hesiod.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libnss_nis.so.2 $SYSROOT/usr/lib/aarch64-linux-gnu/libnss_nis.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libnss_nisplus.so.2 $SYSROOT/usr/lib/aarch64-linux-gnu/libnss_nisplus.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libpcre.so.3 $SYSROOT/usr/lib/aarch64-linux-gnu/libpcre.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libresolv.so.2 $SYSROOT/usr/lib/aarch64-linux-gnu/libresolv.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libthread_db.so.1 $SYSROOT/usr/lib/aarch64-linux-gnu/libthread_db.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libutil.so.1 $SYSROOT/usr/lib/aarch64-linux-gnu/libutil.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libuuid.so.1.3.0 $SYSROOT/usr/lib/aarch64-linux-gnu/libuuid.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libz.so.1.2.11 $SYSROOT/usr/lib/aarch64-linux-gnu/libz.so
ln -sfv $SYSROOT/lib/aarch64-linux-gnu/libdl.so.2 $SYSROOT/usr/lib/aarch64-linux-gnu/libdl.so

echo "Fix cmake files with hardcoded paths.."
find $SYSROOT/opt/ros/noetic/ -name "*.cmake" | xargs -i sh -c 'echo {}; sed -i s@/opt/ros/noetic/lib@\${SYSROOT_PATH}/opt/ros/noetic/lib@g {}'
find $SYSROOT/opt/ros/noetic/ -name "*.cmake" | xargs -i sh -c 'echo {}; sed -i s@PREFIX\ /opt/ros/noetic@PREFIX\ \${SYSROOT_PATH}/opt/ros/noetic@g {}'
find $SYSROOT/opt/ros/noetic/ -name "*.cmake" | xargs -i sh -c 'echo {}; sed -i s@\;/usr/@\;\$\{SYSROOT_PATH\}/usr/@g {}'
find $SYSROOT/opt/ros/noetic/ -name "*.cmake" | xargs -i sh -c 'echo {}; sed -i s@\"/usr/@\"\$\{SYSROOT_PATH\}/usr/@g {}'
</syntaxhighlight>

===== Create <code>3-patch-openmower-cmake.bash</code> =====
<syntaxhighlight lang="bash">
#!/bin/bash

cd src/lib/slic3r_coverage_planner

patch CMakeLists.txt <<'EOF'
@@ -33,7 +33,9 @@ ExternalProject_Add(

CMAKE_CACHE_ARGS
SOURCE_SUBDIR src
- CMAKE_ARGS -DSLIC3R_BUILD_TESTS=OFF
+ CMAKE_ARGS -DSLIC3R_BUILD_TESTS=OFF -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+ -DCMAKE_EXE_LINKER_FLAGS:STRING=--sysroot=${CMAKE_SYSROOT}\;-L${CMAKE_SYSROOT}/opt/ros/noetic/lib\;-L${CMAKE_SYSROOT}/usr/lib/aarch64-linux-gnu
+ -DCMAKE_SHARED_LINKER_FLAGS:STRING=--sysroot=${CMAKE_SYSROOT}\;-L${CMAKE_SYSROOT}/opt/ros/noetic/lib\;-L${CMAKE_SYSROOT}/usr/lib/aarch64-linux-gnu
BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> --config Release
)
EOF

cd ../../../

cd src/lib/xbot_driver_gps

patch CMakeLists.txt <<'EOF'
@@ -32,6 +32,9 @@ ExternalProject_Add(
INSTALL_COMMAND cmake -E echo "Skipping install step."

CMAKE_CACHE_ARGS
+ CMAKE_ARGS -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+ -DCMAKE_EXE_LINKER_FLAGS:STRING=--sysroot=${CMAKE_SYSROOT}\;-L${CMAKE_SYSROOT}/opt/ros/noetic/lib\;-L${CMAKE_SYSROOT}/usr/lib/aarch64-linux-gnu
+ -DCMAKE_SHARED_LINKER_FLAGS:STRING=--sysroot=${CMAKE_SYSROOT}\;-L${CMAKE_SYSROOT}/opt/ros/noetic/lib\;-L${CMAKE_SYSROOT}/usr/lib/aarch64-linux-gnu
BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> --config Release
)
EOF

cd ../../../
</syntaxhighlight>

==== Execute scripts ====
* run the created scripts:
<syntaxhighlight lang="bash">
$ bash 1-setup_sysroot.bash
$ bash 2-fix-links-cmake.bash
$ bash 3-patch-openmower-cmake.bash
</syntaxhighlight>

==== Compilation ====
* build with the following command, change -j1 for number of parallel processes. For some reason catkin_make does not parse toolchain.cmake without forcing it...
'''<code>$ catkin_make -DCMAKE_TOOLCHAIN_FILE=/opt/open_mower_ros/toolchain.cmake -j1</code>'''

* check the build with
<syntaxhighlight lang="bash">
$ find devel/ -type f -executable |xargs file
devel/_setup_util.py: Python script, ASCII text executable
devel/env.sh: a /usr/bin/env sh script, ASCII text executable
devel/lib/mower_utils/planner_test: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/mower_utils/xbot_pose_converter: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/xesc_driver/xesc_driver_node: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/libxesc_2040_driver.so: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/ntrip_client/ntrip_ros.py: Python script, ASCII text executable
devel/lib/mower_simulation/mower_simulation: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/libvesc_driver.so: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/mower_comms/mower_comms: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/mower_map/mower_map_service: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/libftc_local_planner.so: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/xbot_positioning/xbot_positioning: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/xbot_monitoring/xbot_sensor_example: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/xbot_monitoring/xbot_monitoring: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/xbot_monitoring/heatmap_generator: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/xbot_driver_gps/driver_gps_node: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/mower_logic/mag_calibration: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/mower_logic/monitoring: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/mower_logic/mower_odometry: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/mower_logic/mower_logic: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/libxesc_driver.so: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/slic3r_coverage_planner/slic3r_coverage_planner: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
devel/lib/xbot_remote/xbot_remote: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked
</syntaxhighlight>
* rsync folder to raspberry pi, note the section below!

==== TODO/Fix me ====
* Fix <code>[project]/devel/setup.sh</code> - scripts to use correct paths, maybe have a wrapper for setup.sh that setup some env vars for example CMAKE_PREFIX_PATH to omit sysroot_arm64 path, need to figure out what paths are wrong. Seems <code>_setup_util.py</code> is the script that setup ros enviroment.
<syntaxhighlight lang="bash">
# One temporary fix is to create a link on the RPi:
$ ln -s / /opt/sysroot_arm64/
</syntaxhighlight>

* a script to generate packages.txt

Good luck!

OpenMower Crosscompiling - Revision history

Damme at 21:16, 20 June 2026

Damme at 21:15, 20 June 2026