HOW to build ros2 canopen raspberrypi4B on x86 platform with cross-compilation?

[zouzhe1]

Target Device: Raspberry Pi 4B with Ubuntu 22,
Local Device: x86_64 with Ubuntu 22.

Due to the limited memory on my Raspberry Pi 4B, the compilation speed of ROS 2 CANopen is extremely slow, and it often freezes.

Therefore, I intend to perform cross-compilation on my PC.

How should I proceed with cross-compilation?

It would be preferable if you could provide a binary version that can be installed using sudo.

[LudoJ49]

use this to create 2G of extra swap memory...

sudo fallocate -l 2G /swapfile    # Adjust size as needed (2G in this example)
sudo chmod 600 /swapfile
sudo mkswap /swapfile
sudo swapon /swapfile

[MichaelT800]

Since lely_core_libraries is generated for x86 architecture, you need to modify the CMakeLists.txt of this package.

add:Cross-compilation or normal compilation

if(CMAKE_CROSSCOMPILING)
set(CONFIGURE_COMMAND_PREFIX . ${CMAKE_CURRENT_SOURCE_DIR}/arm64_toolchain.sh &&)
set(CONFIGURE_HOST_OPTION --host=aarch64-linux-gnu)
else()
set(CONFIGURE_COMMAND_PREFIX "")
set(CONFIGURE_HOST_OPTION "")
endif()

modifications

CONFIGURE_COMMAND ${CONFIGURE_COMMAND_PREFIX} autoreconf -i <SOURCE_DIR> && <SOURCE_DIR>/configure ${CONFIGURE_HOST_OPTION} --prefix=<INSTALL_DIR> --disable-cython --disable-doc --disable-tests --disable-static --disable-diag
as such

The arm64_toolchain.sh file is placed in the same directory as the CMakeLists.txt file in the package, with the following contents
#!/bin/sh
export CC=/usr/bin/aarch64-linux-gnu-gcc
export CXX=/usr/bin/aarch64-linux-gnu-g++
export AR=/usr/bin/aarch64-linux-gnu-ar
export AS=/usr/bin/aarch64-linux-gnu-as
export LD=/usr/bin/aarch64-linux-gnu-ld
export STRIP=/usr/bin/aarch64-linux-gnu-strip
export RANLIB=/usr/bin/aarch64-linux-gnu-ranlib

Probably not the most logical thing to do, but it worked for me so I could compile x86 and arm64 separately.