cROSpile is a simple script for cross-compiling ROS2 packages from scratch, inspired by this repository.
With the deprecation of the official ROS2 tool and abandonment of support for cross-compilation of ROS2, there is no recent native-compilation script for cross-compilation for recent ROS2 versions, especially for Raspberry Pi 4 and above.
This script compiles ROS2 packages, using Debian Bookworm as the base for Docker. You can quickly adapt it for different architectures as needed — all you need to
change is the CMAKE optimization flags in the toolchain.cmake file and provide a compiler source via the Command Line.
Note
This script is fairly plain and needs a lot of love. The script was planned to be automated with ssh as to provide automatic mounting of directories, but due to problems that I ran into with rsync, I was unable to automate it. Only the --offline mode works.
./cROSpile --offline --arch=xyz --url=abc, where:
- --offline Specifies that the script will run without ssh (necessary)
- (Optional) The architecture (The user will be prompted otherwise)
- (Optional) Toolchain
tar.xzto be downloaded and installed.
Warning
If you are using anything else than aarch64 or arm, please change the toolchain's file optimization flags. Alternatively, you can submit a commit if you find a clean way to automate this.
git clone https://github.com/avgsurfman/crospile
Change the directory and execute the file.
This code is licensed under Apache v2 License as well as 3-clause BSD license.