Could not find a package configuration file provided by "Qt5Widgets".

[satoru-i]

I tried cross-compiling turtlesim for KR260 to get used to using the KRS.
https://github.com/ros/ros_tutorials/tree/humble-devel/turtlesim

However, when I try to build with the following command, I get an error.

colcon build --build-base=build-kr260-ubuntu --install-base=install-kr260-ubuntu --merge-install --mixin kr260 --packages-select turtlesim

--- stderr: turtlesim                         
CMake Error at /home/satorui/krs_ws/acceleration/firmware/kr260/sysroots/aarch64-xilinx-linux/usr/lib/aarch64-linux-gnu/cmake/Qt5/Qt5Config.cmake:28 (find_package):
  Could not find a package configuration file provided by "Qt5Widgets" with
  any of the following names:

    Qt5WidgetsConfig.cmake
    qt5widgets-config.cmake

  Add the installation prefix of "Qt5Widgets" to CMAKE_PREFIX_PATH or set
  "Qt5Widgets_DIR" to a directory containing one of the above files.  If
  "Qt5Widgets" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  CMakeLists.txt:15 (find_package)

---
Failed   <<< turtlesim [0.91s, exited with code 1]

Qt5Widgets exists in sysroot, but how can I build an app that uses Qt5Widgets?

[vmayoral]

Are you sure Qt5Widgets is properly set up in the sysroot? How have you verified it? If properly set in the sysroot, then, in principle, you wouldn't have this issue.

[jasvinderkhurana]

@vmayoral, It seems QT is not set by default in rootfs, so can you confirm that in the KR260 firmware, did you enabled QT explicitly ? If not, then there might not be any QT libs. Can you guide on how to create a new firmware with QT enabled in sysroot?

[vmayoral]

@vmayoral, It seems QT is not set by default in rootfs, so can you confirm that in the KR260 firmware, did you enabled QT explicitly ? If not, then there might not be any QT libs. Can you guide on how to create a new firmware with QT enabled in sysroot?

QT's not part-of (or generally needed) an embedded ROS rootfs. It implies a significant amount of deps. and adds unnecessary weight, unless you need it, as it seems the case above. This can of course be added by re-creating the firmware artifacts again.

Happy to work together with you and the team @jasvinderkhurana to recreate the firmware artifacts and include what's needed. Let's take this offline to a separate channel. Very excited and discuss this in a next collaboration.

[satoru-i]

Hi @vmayoral, @jasvinderkhurana,
Thank you both for your comments. As you've probably noticed, I installed KRS exactly as instructed, so I'm using the sysroot found in the firmware below.

https://github.com/ros-acceleration/acceleration_firmware_kr260/releases/download/v1.1.1/acceleration_firmware_kr260.zip

I would appreciate it if you could point me to "how to create a new firmware with QT enabled in sysroot".

[jasvinderkhurana]

@satoru-i , Can you please confirm whether you are using Ubuntu flow or Petalinux/Yocto flow ? I will check this.

[satoru-i]

Hi @jasvinderkhurana,
I'm using Ubuntu flow(Ubuntu 22.04, Cross-compilation development) found here.
https://xilinx.github.io/KRS/sphinx/build/html/docs/install.html

[jasvinderkhurana]

@satoru-i, Thanks for confirming.. I also find this strange because I can see the Qt5Widgets cmake at .../krs_ws/acceleration/firmware/kr260/sysroots/aarch64-xilinx-linux/usr/lib/aarch64-linux-gnu/cmake/Qt5Widgets/Qt5WidgetsConfig.cmake , but the environment is not picking up. I am looking at this and will update you as soon as I get any solution.

[jasvinderkhurana]

@satoru-i, QT is acting differently here, though all the dependencies are available in sysroot it is somehow not able to find it. I have found one workaround to fix the cmake find problem, add dependencies(Qt5Core, Qt5Gui, Qt5Widgets) before Qt5 in CMakelists.txt of turtlesim see below:

find_package(Qt5Core REQUIRED)
find_package(Qt5Gui REQUIRED)
find_package(Qt5Widgets REQUIRED)
find_package(Qt5 REQUIRED COMPONENTS Widgets)

Even after fixing Qt5Widgets error, it gives another issue:

aarch64-binfmt-P: Could not open '/lib/ld-linux-aarch64.so.1': No such file or directory
gmake[2]: *** [CMakeFiles/turtlesim_node.dir/build.make:74: include/turtlesim/moc_turtle_frame.cpp] Error 255
gmake[1]: *** [CMakeFiles/Makefile2:598: CMakeFiles/turtlesim_node.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< turtlesim [3.70s, exited with code 2]

[satoru-i]

Hi @jasvinderkhurana, thank you for looking into it.
Applying that workaround to CMakelists.txt of turtlesim worked around the cmake find problem, and got the same error.

So I did "sudo ln -s ~/krs_ws/install/../acceleration/firmware/kr260/sysroots/aarch64-xilinx-linux/lib/ld-linux-aarch64.so.1 /lib/ld-linux-aarch64.so.1", but I got another error.

Starting >>> turtlesim

--- stderr: turtlesim                             
/home/satorui/krs_ws/acceleration/firmware/kr260/sysroots/aarch64-xilinx-linux/usr/lib/qt5/bin/moc: error while loading shared libraries: libz.so.1: cannot open shared object file: No such file or directory
gmake[2]: *** [CMakeFiles/turtlesim_node.dir/build.make:74: include/turtlesim/moc_turtle_frame.cpp] Error 127
gmake[1]: *** [CMakeFiles/Makefile2:598: CMakeFiles/turtlesim_node.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< turtlesim [7.66s, exited with code 2]

This looks like the same issue as the workaround for installing KRS.
https://xilinx.github.io/KRS/sphinx/build/html/docs/install.html

[jasvinderkhurana]

@satoru-i , that's right, the workaround you did is correct! And regarding your latest error, I also faced the same issue and I observed that "/home/satorui/krs_ws/acceleration/firmware/kr260/sysroots/aarch64-xilinx-linux/usr/lib/qt5/bin/moc" is an Arm binary and it is trying to be executed on x86 machine which is causing the trouble.

The cmake is trying to create a .cpp file from QT. So, as a workaround I compiled the package for x86 first and this creates a moc_turtle_frame.cpp file in build folder. Take that file compile it with turtlesime source code. This is succeeding for me. I have attached the file here and see the changes done in CMakelists.txt of turtlesim below:

Let me know if this is working for you as well.

[satoru-i]

Hi @jasvinderkhurana, Thanks for letting me know the workaround. I also built it and was able to run it on the KR260.
With this information, I'm going to try out some user apps using HLS. Thank you. :)