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  1. Start docker with debian:stretch

    • pip install catkin_pkg <- used instead of repo one
    • Run apt-get install build-essential pkg-config cmake unzip gzip rsync
    • Run apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall python-empy
    • Install catkin_pkg from pip and remove from debian distro

  2. Chroot into raspbian sysroot from host

    • Setup qemu-setup-static
    • Mount raspbian image
    • Run copy script
    • sudo mount --bind /sys sysroot/sys
    • sudo mount --bind /proc sysroot/proc
    • sudo mount --bind /dev sysroot/dev
    • sudo mount --bind /dev/pts sysroot/dev/pts
    • sudo chroot sysroot /bin/bash
    • On raspbian: Run export PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
    • On raspbian: Run apt-get install pkg-config python2.7 python-dev python-pip sbcl libboost-all-dev ~libtinyxml-dev~ libgtest-dev liblz4-dev libbz2-dev libyaml-dev python-nose python-empy python-netifaces python-defusedxml
    • On raspbian: pip install -U rospkg catkin_pkg
    • apt install libpoco-dev

  3. Edit sysroot Remove absolute paths from: ./usr/lib/arm-linux-gnueabihf/libc.so ./usr/lib/arm-linux-gnueabihf/libpthread.so

/* GNU ld script Use the shared library, but some functions are only in the static library, so try that secondarily. / OUTPUT_FORMAT(elf32-littlearm) GROUP ( /lib/arm-linux-gnueabihf/libc.so.6 /usr/lib/arm-linux-gnueabihf/libc_nonshared.a AS_NEEDED ( /lib/arm-linux-gnueabihf/ld-linux-armhf.so.3 ) ) / GNU ld script Use the shared library, but some functions are only in the static library, so try that secondarily. */ OUTPUT_FORMAT(elf32-littlearm) GROUP ( libc.so.6 libc_nonshared.a AS_NEEDED ( ld-linux-armhf.so.3 ) )

/* GNU ld script Use the shared library, but some functions are only in the static library, so try that secondarily. / OUTPUT_FORMAT(elf32-littlearm) GROUP ( /lib/arm-linux-gnueabihf/libpthread.so.0 /usr/lib/arm-linux-gnueabihf/libpthread_nonshared.a ) / GNU ld script Use the shared library, but some functions are only in the static library, so try that secondarily. */ OUTPUT_FORMAT(elf32-littlearm) GROUP ( libpthread.so.0 libpthread_nonshared.a )

  1. Run crosscompilation on docker

    • apt install libgtest-dev

    • mkdir gtest && cd gtest

    • cmake -D CMAKE_TOOLCHAIN_FILE=/build_ros/crosscompile/toolchain.cmake /build_ros/crosscompile/sysroot/usr/src/gtest

    • make

    • make install DESTDIR=/build_ros/crosscompile/sysroot

    • compile tinyxml2: https://answers.ros.org/question/278733/rospack-find-throws-exception-error/ mavlink/mavros#896

    • git clone https://github.com/ros/console_bridge

    • cd console_bridge

    • mkdir build

    • cd build

    • cmake -D CMAKE_TOOLCHAIN_FILE=/build_ros/crosscompile/toolchain.cmake /build_ros/crosscompile/console_bridge/

    • make

    • make install DESTDIR=/build_ros/crosscompile/sysroot

    • rosdep init

    • rosdep update

    • Geneate rosinstall wstool init -j8 src melodic-ros_comm-wet.rosinstall

    • rosdep install --from-paths src --ignore-src --rosdistro melodic --os=debian:stretch --as-root apt:false -y -r

    • rsync -par . /build_ros/crosscompile/sysroot/catkin

  2. On chroot:

    • chroot sysroot /bin/bash (export PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin)

    • cd /catkin

    • apt install python-rosdep

    • rosdep init && rosdep update

    • rosdep install --from-paths src --ignore-src --rosdistro melodic -r --os=debian:stretch

    • Maybe update relativaptive paths from outside chroot: sudo python sysroot-relativelinks.py sysroot/ TODO: Ignore dev,proc, sys in script

    • pip uninstall PyYAML && pip install PyYAML==3.13

  3. Run crosscompilation on docker

    • ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=/build_ros/crosscompile/toolchain.cmake

The installation of mavros/rapicam_node follows the same concept. Please note raspicam needs opencv3. Compile this aswell! https://docs.opencv.org/3.3.0/d7/d9f/tutorial_linux_install.html opencv/opencv#11833 cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/build_ros/crosscompile/sysroot-release/usr/local -D CMAKE_TOOLCHAIN_FILE=/build_ros/crosscompile/toolchain.cmake /build_ros/crosscompile/opencv-3.4.5 Run: rosinstall_generator ros_comm --rosdistro melodic --deps --tar > melodic-ros_comm.rosinstall Run: wstool merge -t src mavros_missing-dependencies.rosinstall Run in chroot and docker: rosdep install --from-paths src --ignore-src --rosdistro melodic -s --os=debian:stretch

If you want to releas the image later it is good to start with a fresh chroot. Install all the dependencies from the other chroot and copy the release data. e.g. cat /var/log/apt/history.log | grep install: /usr/bin/apt install python-rosdep /usr/bin/apt-get install libgpgme-dev /usr/bin/apt-get install -y cmake

/usr/bin/apt-get install -y liblog4cxx-dev /usr/bin/apt-get install -y libssl-dev /usr/bin/apt-get install -y python-numpy /usr/bin/apt-get install -y python-imaging /usr/bin/apt-get install -y python-gnupg /usr/bin/apt-get install -y python-coverage /usr/bin/apt-get install -y libpoco-dev /usr/bin/apt-get install -y libconsole-bridge-dev /usr/bin/apt-get install -y google-mock /usr/bin/apt-get install -y python-paramiko /usr/bin/apt-get install -y python-psutil /usr/bin/apt-get install -y libbullet-dev /usr/bin/apt-get install -y liburdfdom-headers-dev /usr/bin/apt-get install -y python-pyproj /usr/bin/apt-get install -y libgeographic-dev /usr/bin/apt-get install -y python-future /usr/bin/apt-get install -y libeigen3-dev /usr/bin/apt-get install -y python-sip-dev /usr/bin/apt-get install -y geographiclib-tools /usr/bin/apt-get install -y graphviz /usr/bin/apt-get install -y python-wxtools /usr/bin/apt-get install -y libcppunit-dev /usr/bin/apt-get install -y python-lxml /usr/bin/apt-get install -y liburdfdom-dev /usr/bin/apt-get install -y hddtemp /usr/bin/apt install libraspberrypi0 /usr/bin/apt-get install -y libtheora-dev /usr/bin/apt-get install -y libyaml-cpp-dev apt install libgtest-dev /usr/bin/apt-get install -y libopencv-dev /* required because we sysroot has these dependencies */ /usr/bin/apt-get install -y python-opencv /usr/bin/apt-get install build-essential git cmake pkg-config libtiff5-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libgtk2.0-dev libatlas-base-dev gfortran

Resize image:

  • dd if=/dev/zero bs=1M count=512 >> 2019-04-05-raspbian-stretch-lite-ros.img
  • fdisk 2019-04-05-raspbian-stretch-lite-ros.img: Delete parition 2 and create new one starting at the same block as the previous parition
  • sudo ./loopback-root.sh 2019-04-05-raspbian-stretch-lite-ros.img
  • sudo e2fsck -f /dev/loop0
  • sudo resize2fs /dev/loop0
  • sudo losetup -d /dev/loop0

Mount whole image with boot:

  • losetup -P /dev/loop0 2019-04-09-raspbian-stretch-lite-ros.img
  • mount /dev/loop0p2 crosscompile/sysroot-release
  • mount /dev/loop0p1 crosscompile/sysroot-release/boot
  • ./chroot-raspbian.sh crosscompile/sysroot-release

Post compilation: PX4/PX4-Autopilot#11662 PyYaml

./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

/build_ros/crosscompile/gcc-linaro-6.3.1-2017.05-x86_64_arm-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/6.3.1/../../../../arm-linux-gnueabihf/bin/ld: warning: libconsole_bridge.so.0.2, needed by /build_ros/crosscompile/sysroot/usr/lib/arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libconsole_bridge.so.0.4

/build_ros/crosscompile/gcc-linaro-6.3.1-2017.05-x86_64_arm-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/6.3.1/../../../../arm-linux-gnueabihf/bin/ld: warning: libconsole_bridge.so.0.2, needed by /build_ros/crosscompile/sysroot/usr/lib/arm-linux-gnueabihf/liburdfdom_sensor.so, may conflict with libconsole_bridge.so.0.4

Enable serial https://www.raspberrypi.org/documentation/configuration/uart.md https://learn.adafruit.com/adafruits-raspberry-pi-lesson-5-using-a-console-cable/enabling-serial-console

ARMv6: https://en.wikipedia.org/wiki/Raspberry_Pi#Pi_Zero

original config: https://raw.githubusercontent.com/raspberrypi/tools/master/configs/arm-rpi-4.9.3-linux-gnueabihf.config

Eventuelles Problem: Toolchain uses libraries from host and not from sysroot. console_bridge war nicht nötig

Final config:

  • Install and enable dnsmasq in chroot

  • Enable SSH server in chroot

  • Disable hciuart service for uart

  • Install zsh

  • Run chsh root --shell /bin/zsh

  • Run chsh pi --shell /bin/zsh

  • Copy configs directory to image: sudo rsync -ra . ../sysroot-release

  • Run ldconfig to update libs changed by configs

  • Run for each user: rsync -r /etc/skel/ ~

  • Change password by running: passwd pi

  • create new parition using fdisk

  • Expand fs: sudo mkfs.ext4 -L recordings /dev/mmcblk0p3