编译ROS2

$ cat build-ros2.sh
#!/bin/bash

set -e
trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
start=$(date +%s.%N)

build(){
   
    if [ "${CPU}" == "aarch64" ]; then
        CPUVARDIR=aarch64le
        CPUVAR=aarch64le
    elif [ "${CPU}" == "x86_64" ]; then
        CPUVARDIR=x86_64
        CPUVAR=x86_64
    else
        echo "Invalid architecture. Exiting..."
        exit 1
    fi

    echo "CPU set to ${CPUVAR}"
    echo "CPUVARDIR set to ${CPUVARDIR}"
    export CPUVARDIR CPUVAR
    export ARCH=${CPU}
    source /opt/ros/foxy/setup.bash
    colcon build --merge-install --cmake-force-configure \
        --build-base=build/${CPUVARDIR} \
        --install-base=install/${CPUVARDIR} \
        --cmake-args \
            -DCMAKE_TOOLCHAIN_FILE="${PWD}/platform/qnx.nto.toolchain.cmake" \
            -DBUILD_TESTING:BOOL="OFF" \
            -DCMAKE_BUILD_TYPE="Release" \
            -DTHIRDPARTY=FORCE \
            --no-warn-unused-cli
}

# Set this variable according to the path of package on target
ROS2_PACKAGE_TARGET_INSTALL_PATH=/opt/ros/${ROS2DIST}

if [ ! -d "${QNX_TARGET}" ]; then
    echo "QNX_TARGET is not set. Exiting..."
    exit 1
fi

CPUS=("aarch64" "x86_64")
if [ -z "$CPU" ]; then
    for CPU in ${CPUS[@]}; do
        build
    done
elif [ $CPU == "x86_64" ] || [ $CPU == "aarch64" ] ; then
    build
else
    echo "invalid $CPU please set arch to one of the following x86_64, armv7, or aarch64 or unset arch to build all platforms"
    exit 1
fi

duration=$(echo "$(date +%s.%N) - $start" | bc)
execution_time=`printf "%.2f seconds" $duration`
echo "Build Successful. Build time: $execution_time"
exit 0

$ cat platform/qnx.nto.toolchain.cmake
# QNX toolchain file for building ROS2

if("$ENV{QNX_HOST}" STREQUAL "")
    message(FATAL_ERROR "QNX_HOST environment variable not found. Please set the variable to your host's build tools")
endif()
if("$ENV{QNX_TARGET}" STREQUAL "")
    message(FATAL_ERROR "QNX_TARGET environment variable not found. Please set the variable to the qnx target location")
endif()

set(QNX_HOST "$ENV{QNX_HOST}")
set(QNX_TARGET "$ENV{QNX_TARGET}")

message(STATUS "using QNX_HOST ${QNX_HOST}")
message(STATUS "using QNX_TARGET ${QNX_TARGET}")

set(ARCH "$ENV{ARCH}")
set(CPUVAR "$ENV{CPUVAR}")
set(CPUVARDIR "$ENV{CPUVARDIR}")

message(STATUS "using CPUVAR ${CPUVAR}")
message(STATUS "using CPUVARDIR ${CPUVARDIR}")
message(STATUS "using ARCH ${ARCH}")

set(QNX TRUE)
set(CMAKE_SYSTEM_NAME QNX)

set(CMAKE_C_COMPILER ${QNX_HOST}/usr/bin/qcc)
set(CMAKE_CXX_COMPILER ${QNX_HOST}/usr/bin/q++)

set(CMAKE_SYSTEM_PROCESSOR "${CPUVAR}")

set(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES ${CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES} ${QNX_TARGET}/usr/include)

set(EXTRA_CMAKE_C_FLAGS "${EXTRA_CMAKE_C_FLAGS} -Wl,-rpath-link,${QNX_TARGET}/${CPUVARDIR}/usr/lib:${CMAKE_INSTALL_PREFIX}/lib -DOPENCV_NOSTL_TRANSITIONAL -D_QNX_SOURCE")
set(EXTRA_CMAKE_CXX_FLAGS "${EXTRA_CMAKE_C_FLAGS} ${EXTRA_CMAKE_CXX_FLAGS} -Wno-invalid-offsetof")

# needs a cpu + variant
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Vgcc_nto${CMAKE_SYSTEM_PROCESSOR} ${EXTRA_CMAKE_C_FLAGS}" CACHE STRING "c_flags")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Vgcc_nto${CMAKE_SYSTEM_PROCESSOR} -std=c++14 -DTIXML_USE_STL ${EXTRA_CMAKE_CXX_FLAGS}" CACHE STRING "cxx_flags")

# needs only cpu, ARCH=(CPU only)
set(CMAKE_AR "${QNX_HOST}/usr/bin/nto${ARCH}-ar${HOST_EXECUTABLE_SUFFIX}" CACHE PATH "archiver")
set(CMAKE_RANLIB "${QNX_HOST}/usr/bin/nto${ARCH}-ranlib${HOST_EXECUTABLE_SUFFIX}" CACHE PATH "ranlib")
set(CMAKE_STRIP "${QNX_HOST}/usr/bin/nto${ARCH}-strip${HOST_EXECUTABLE_SUFFIX}" CACHE PATH "strip")

set(EXTRA_CMAKE_LINKER_FLAGS "${EXTRA_CMAKE_LINKER_FLAGS} -lregex")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${EXTRA_CMAKE_LINKER_FLAGS}" CACHE STRING "exe_linker_flags")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} ${EXTRA_CMAKE_LINKER_FLAGS}" CACHE STRING "so_linker_flags")

set(THREADS_PTHREAD_ARG "0" CACHE STRING "Result from TRY_RUN" FORCE)

########################################################################
# Python setup
########################################################################
# the variable below has to be set according to the output of
# sysconfig.get_config_var('SOABI') on the target, which allows python
# extension files to be found.
set(PYTHON_SOABI cpython-311)
# find the host python then override the include and library directories to link against the target cross compiled binaries
find_package(PythonInterp 3.11 REQUIRED)
set(NUMPY_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/usr/lib/python3.11/site-packages)
set(PYTHON_INCLUDE_DIR
  ${QNX_TARGET}/usr/include/${CPUVARDIR}/python3.11
  ${QNX_TARGET}/usr/include/python3.11
  ${NUMPY_INSTALL_DIR}/numpy/core/include)
set(PYTHON_INCLUDE_DIRS PYTHON_INCLUDE_DIR)
set(PYTHON_LIBRARY ${QNX_TARGET}/${CPUVARDIR}/usr/lib/libpython3.11.so)
set(PYTHON_LIBRARIES ${QNX_TARGET}/${CPUVARDIR}/usr/lib)
set(PYTHONLIBS_FOUND)
set(PYTHON_MODULE_EXTENSION .cpython-311.so)
set(PYTHON_IS_DEBUG FALSE)
#######################################################################
set(Eigen3_INCLUDE_DIRS     ${CMAKE_INSTALL_PREFIX}/include)
set(EIGEN3_FOUND TRUE)
#######################################################################

#######################################################################
# Search paths for dependencies
#######################################################################
set(CMAKE_FIND_ROOT_PATH ${CMAKE_INSTALL_PREFIX};${QNX_TARGET};${QNX_TARGET}/${CPUVARDIR})

# Do not include runtime paths in libraries because they will be
# incorrect since on target they will be different than on host
set(CMAKE_SKIP_RPATH TRUE CACHE BOOL "If set, runtime paths are not added when using shared libraries.")

#######################################################################
# Search strategy
#######################################################################
# Allow search for programs on host, this will allow programs such as
# make, git and patch to be found and used.
# Only look for headers, libs and packages in the search paths provided
# by CMAKE_FIND_ROOT_PATH
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

$ ./build-ros2.sh
CPU set to aarch64le
CPUVARDIR set to aarch64le
Starting >>> domain_coordinator
Starting >>> rosidl_cli                             
Starting >>> rosidl_typesupport_interface                           
Starting >>> fastrtps_cmake_module                                 
Starting >>> python_cmake_module                                    
Starting >>> rpyutils                                               
Starting >>> rti_connext_dds_cmake_module                           
Starting >>> rmw_implementation_cmake                              
--- stderr: rosidl_typesupport_interface                           
CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< rosidl_typesupport_interface [2.20s, exited with code 1]
--- stderr: fastrtps_cmake_module                                             
CMake Error at /opt/cmake-3.18.0-Linux-x86_64/share/cmake-3.18/Modules/CMakeTestCCompiler.cmake:66 (message):
  The C compiler

    "/home/kevin/qnx710/host/linux/x86_64/usr/bin/qcc"

  is not able to compile a simple test program.

  It fails with the following output:

    Change Dir: /home/kevin/ros2_galactic/build/aarch64le/fastrtps_cmake_module/CMakeFiles/CMakeTmp
   
    Run Build Command(s):/home/kevin/qnx710/host/linux/x86_64/usr/bin/make cmTC_11a6c/fast && /home/kevin/qnx710/host/linux/x86_64/usr/bin/make  -f CMakeFiles/cmTC_11a6c.dir/build.make CMakeFiles/cmTC_11a6c.dir/build
    make[1]: Entering directory '/home/kevin/ros2_galactic/build/aarch64le/fastrtps_cmake_module/CMakeFiles/CMakeTmp'
    Building C object CMakeFiles/cmTC_11a6c.dir/testCCompiler.c.o
    /home/kevin/qnx710/host/linux/x86_64/usr/bin/qcc   -Vgcc_ntoaarch64le  -Wl,-rpath-link,/home/kevin/qnx710/target/qnx7/aarch64le/usr/lib:/home/kevin/ros2_galactic/install/aarch64le/lib -DOPENCV_NOSTL_TRANSITIONAL -D_QNX_SOURCE  -o CMakeFiles/cmTC_11a6c.dir/testCCompiler.c.o -c /home/kevin/ros2_galactic/build/aarch64le/fastrtps_cmake_module/CMakeFiles/CMakeTmp/testCCompiler.c
    license check failed
    CMakeFiles/cmTC_11a6c.dir/build.make:84: recipe for target 'CMakeFiles/cmTC_11a6c.dir/testCCompiler.c.o' failed
    make[1]: *** [CMakeFiles/cmTC_11a6c.dir/testCCompiler.c.o] Error 1
    make[1]: Leaving directory '/home/kevin/ros2_galactic/build/aarch64le/fastrtps_cmake_module/CMakeFiles/CMakeTmp'
    Makefile:140: recipe for target 'cmTC_11a6c/fast' failed
    make: *** [cmTC_11a6c/fast] Error 2
   
   

  

  CMake will not be able to correctly generate this project.
Call Stack (most recent call first):
  CMakeLists.txt:17 (project)


---
Failed   <<< fastrtps_cmake_module [2.33s, exited with code 1]
--- stderr: python_cmake_module                                                
CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< python_cmake_module [2.40s, exited with code 1]
Aborted  <<< rmw_implementation_cmake [1.94s]
Aborted  <<< domain_coordinator [3.06s]
Aborted  <<< rosidl_cli [2.87s]
Aborted  <<< rpyutils [2.27s]
Aborted  <<< rti_connext_dds_cmake_module [2.08s]

Summary: 0 packages finished [20.7s]
  3 packages failed: fastrtps_cmake_module python_cmake_module rosidl_typesupport_interface
  5 packages aborted: domain_coordinator rmw_implementation_cmake rosidl_cli rpyutils rti_connext_dds_cmake_module
  5 packages had stderr output: fastrtps_cmake_module python_cmake_module rmw_implementation_cmake rosidl_typesupport_interface rti_connext_dds_cmake_module
  221 packages not process