Build Guidance SDK pkg for ARM64 architecture (Jetson Nano)

[agchatzik]

Hello, I have installed ROS on Jetson Nano following the instructions given at https://github.com/jetsonhacks/installROS Running DJI on board SDK works fine although i cant build Guidance SDK on ARM64. Up to this point, i needed to install arm-linux-gnueabi-g++ compiler in order to recognize libDJI_guidance.so. I also needed to cross compile opencv3. Right now i'm facing the following error when building guidance pkg.

Base path: /home/jetsonvvr/catkin_ws Source space: /home/jetsonvvr/catkin_ws/src Build space: /home/jetsonvvr/catkin_ws/build Devel space: /home/jetsonvvr/catkin_ws/devel Install space: /home/jetsonvvr/catkin_ws/install Whitelisted packages: guidance

Running command: "make cmake_check_build_system" in "/home/jetsonvvr/catkin_ws/build"

Running command: "make -j4 -l4" in "/home/jetsonvvr/catkin_ws/build"

[ 12%] Linking CXX executable /home/jetsonvvr/catkin_ws/devel/lib/guidance/guidanceNode [ 25%] Linking CXX executable /home/jetsonvvr/catkin_ws/devel/lib/guidance/guidanceNodeTest [ 37%] Linking CXX executable /home/jetsonvvr/catkin_ws/devel/lib/guidance/guidanceNodeCalibration

/opt/ros/melodic/lib/libroscpp.so: file not recognized: File format not recognized /opt/ros/melodic/lib/libroscpp.so: file not recognized: File format not recognized /opt/ros/melodic/lib/libroscpp.so: file not recognized: File format not recognized

collect2: error: ld returned 1 exit status collect2: error: ld returned 1 exit status collect2: error: ld returned 1 exit status

Guidance-SDK-ROS/CMakeFiles/guidanceNode.dir/build.make:149: recipe for target '/home/jetsonvvr/catkin_ws/devel/lib/guidance/guidanceNode' failed make[2]: * [/home/jetsonvvr/catkin_ws/devel/lib/guidance/guidanceNode] Error 1 Guidance-SDK-ROS/CMakeFiles/guidanceNodeCalibration.dir/build.make:149: recipe for target '/home/jetsonvvr/catkin_ws/devel/lib/guidance/guidanceNodeCalibration' failed make[2]: * [/home/jetsonvvr/catkin_ws/devel/lib/guidance/guidanceNodeCalibration] Error 1 CMakeFiles/Makefile2:1269: recipe for target 'Guidance-SDK-ROS/CMakeFiles/guidanceNode.dir/all' failed make[1]: * [Guidance-SDK-ROS/CMakeFiles/guidanceNode.dir/all] Error 2 make[1]: * Waiting for unfinished jobs.... CMakeFiles/Makefile2:459: recipe for target 'Guidance-SDK-ROS/CMakeFiles/guidanceNodeCalibration.dir/all' failed make[1]: * [Guidance-SDK-ROS/CMakeFiles/guidanceNodeCalibration.dir/all] Error 2 Guidance-SDK-ROS/CMakeFiles/guidanceNodeTest.dir/build.make:123: recipe for target '/home/jetsonvvr/catkin_ws/devel/lib/guidance/guidanceNodeTest' failed make[2]: * [/home/jetsonvvr/catkin_ws/devel/lib/guidance/guidanceNodeTest] Error 1 CMakeFiles/Makefile2:496: recipe for target 'Guidance-SDK-ROS/CMakeFiles/guidanceNodeTest.dir/all' failed make[1]: * [Guidance-SDK-ROS/CMakeFiles/guidanceNodeTest.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: * [all] Error 2

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My cmake list if the following:

cmake_minimum_required(VERSION 2.8.3) project(guidance)

SET ( CMAKE_CROSSCOMPILING TRUE) SET ( CMAKE_C_COMPILER "arm-linux-gnueabi-g++" ) SET ( CMAKE_CXX_COMPILER "arm-linux-gnueabi-g++" )

#SET(CMAKE_C_COMPILER /usr/bin/arm-linux-gnueabi-gcc) #SET(CMAKE_CXX_COMPILER /usr/bin/arm-linux-gnueabi-g++) SET(CMAKE_FIND_ROOT_PATH /usr/arm-linux-gnueabi)

SET (CMAKE_PREFIX_PATH "/home/jetsonvvr/Documents/Libraries/opencv3/opencv/build/install/share/OpenCV") SET (OpenCV_INCLUDE_DIRS "/home/jetsonvvr/Documents/Libraries/opencv3/opencv/build/install/include") SET (OpenCV_LIBS "/home/jetsonvvr/Documents/Libraries/opencv3/opencv/build/install/lib")

find_package(catkin REQUIRED COMPONENTS roscpp cv_bridge std_msgs sensor_msgs geometry_msgs ) find_package(OpenCV 3 REQUIRED core highgui)

catkin_package( )

include_directories( ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} include )

message("System is: " ${CMAKE_SYSTEM_PROCESSOR}) if (${CMAKE_SYSTEM_NAME} MATCHES "Linux") if (CMAKE_SIZEOF_VOID_P EQUAL 4) message("-- 32bit detected") link_directories(lib/x86) elseif (CMAKE_SIZEOF_VOID_P EQUAL 😎 message("-- 64bit detected") link_directories(lib/x64) endif () else() message("-- Non-linux platform detected but sorry we do not support 😀") endif ()

if (${CMAKE_SYSTEM_PROCESSOR} MATCHES "armv7l" ) message("-- " ${CMAKE_SYSTEM_PROCESSOR} " detected") link_directories(lib/XU3) else () endif ()

link_libraries( ${OpenCV_LIBS} ${catkin_LIBRARIES} DJI_guidance usb-1.0 yaml-cpp)

link_libraries(

    ${SOLUTIONTITLE}

    -lopencv_core

    -lopencv_highgui

    -lopencv_imgproc

    -lopencv_imgcodecs

    -lopencv_calib3d

    -lopencv_ximgproc

)

add_executable(guidanceNode src/GuidanceNode.cpp src/DJI_utility.cpp)

add_executable(guidanceNodeTest src/GuidanceNodeTest.cpp)

add_executable(guidanceNodeCalibration src/GuidanceNodeCalibration.cpp src/DJI_utility.cpp)

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Do I need to crosscompile ROS and the dependencies from source? If that's the case can anyone provide me with some brief instructions.

Thank you.

[agchatzik]

@tangketan I would appreciate your help.