Hello, I have had time to contiue on reading your notes. I am stuck at step 3 of the userland lib crosscompilation. For some reason it is not able to finish building the "all" target. Here is the output of the make command: output.txt

Before that everything went well, I managed to complete all the previous steps without any trouble except:

• I did not do the RTC part (althought I activated I2C) because I do not have the hardware
• I had some struggle installing links2 (some network issues it seemed, but after an "apt-get update" I tried again and it worked).
• I get an error when I try to use links2 "could not initialize any graphics driver. Tried the following drivers: x: Can't open display "(null)" fb: could not get VT mode." I am a little bit confused about how this is supposed to work as neither my VM nor the Rpi has a graphical environment. Am I supposed to SSH on the VM from a HOST with graphical environment for links2 to work?

Hope you can help me out on this one. Thanks

I copied the issue here for visibility, sorry if it is seen as pollution, for original post clic #11 at the bottom

Hello, I have the same issue but I do not understand how you solved yours. Could you give details please?

Originally posted by @compyl118 in https://github.com/HesselM/rpicross_notes/issues/11#issuecomment-485265255

First of all I thank you for the detailed write up.

We have followed the steps you mentioned, through 01-setup.md till 06-xc-opencv.md.

The output for cmake is

General configuration for OpenCV 3.2.0 ===================================== -- Version control: unknown

-- Extra modules: -- Location (extra): /home/pi/rpi/src/opencv_contrib-3.2.0/modules -- Version control (extra): unknown

-- Platform: -- Timestamp: 2018-04-26T11:58:06Z -- Host: Linux 4.4.0-121-generic x86_64 -- Target: Linux 1 arm -- CMake: 3.5.1 -- CMake generator: Unix Makefiles -- CMake build tool: /usr/bin/make -- Configuration: Release

-- C/C++: -- Built as dynamic libs?: YES -- C++ Compiler: /usr/bin/rpizero-g++ (ver 4.9.3) -- C++ flags (Release): -isystem /home/pi/rpi/rootfs/usr/include/arm-linux-gnueabihf -isystem /home/pi/rpi/rootfs/usr/include -isystem /home/pi/rpi/rootfs/usr/local/include -isystem /home/pi/rpi/rootfs/usr/include/arm-linux-gnueabihf -isystem /home/pi/rpi/rootfs/usr/include -isystem /home/pi/rpi/rootfs/usr/local/include -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -mfp16-format=ieee -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG -DNDEBUG -- C++ flags (Debug): -isystem /home/pi/rpi/rootfs/usr/include/arm-linux-gnueabihf -isystem /home/pi/rpi/rootfs/usr/include -isystem /home/pi/rpi/rootfs/usr/local/include -isystem /home/pi/rpi/rootfs/usr/include/arm-linux-gnueabihf -isystem /home/pi/rpi/rootfs/usr/include -isystem /home/pi/rpi/rootfs/usr/local/include -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -mfp16-format=ieee -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -g -O0 -DDEBUG -D_DEBUG -- C Compiler: /usr/bin/rpizero-gcc -- C flags (Release): -isystem /home/pi/rpi/rootfs/usr/include/arm-linux-gnueabihf -isystem /home/pi/rpi/rootfs/usr/include -isystem /home/pi/rpi/rootfs/usr/local/include -isystem /home/pi/rpi/rootfs/usr/include/arm-linux-gnueabihf -isystem /home/pi/rpi/rootfs/usr/include -isystem /home/pi/rpi/rootfs/usr/local/include -isystem /home/pi/rpi/rootfs/usr/include/arm-linux-gnueabihf -isystem /home/pi/rpi/rootfs/usr/include -isystem /home/pi/rpi/rootfs/usr/local/include -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -mfp16-format=ieee -ffunction-sections -fvisibility=hidden -O3 -DNDEBUG -DNDEBUG -- C flags (Debug): -isystem /home/pi/rpi/rootfs/usr/include/arm-linux-gnueabihf -isystem /home/pi/rpi/rootfs/usr/include -isystem /home/pi/rpi/rootfs/usr/local/include -isystem /home/pi/rpi/rootfs/usr/include/arm-linux-gnueabihf -isystem /home/pi/rpi/rootfs/usr/include -isystem /home/pi/rpi/rootfs/usr/local/include -isystem /home/pi/rpi/rootfs/usr/include/arm-linux-gnueabihf -isystem /home/pi/rpi/rootfs/usr/include -isystem /home/pi/rpi/rootfs/usr/local/include -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -mfp16-format=ieee -ffunction-sections -fvisibility=hidden -g -O0 -DDEBUG -D_DEBUG -- Linker flags (Release): -- Linker flags (Debug): -- ccache: NO -- Precompiled headers: NO -- Extra dependencies: gtk-x11-2.0 gdk-x11-2.0 pangocairo-1.0 atk-1.0 cairo gdk_pixbuf-2.0 gio-2.0 pangoft2-1.0 pango-1.0 fontconfig freetype gthread-2.0 gstbase-1.0 gstreamer-1.0 gobject-2.0 glib-2.0 dc1394 dl m pthread rt -- 3rdparty dependencies: zlib libjpeg libwebp libpng libtiff libjasper IlmImf libprotobuf tegra_hal

-- OpenCV modules: -- To be built: core flann imgproc ml photo reg surface_matching video dnn freetype fuzzy imgcodecs shape videoio highgui objdetect plot superres xobjdetect xphoto bgsegm bioinspired dpm face features2d line_descriptor saliency text calib3d ccalib datasets rgbd stereo tracking videostab xfeatures2d ximgproc aruco optflow phase_unwrapping stitching structured_light python3 -- Disabled: world contrib_world -- Disabled by dependency: - -- Unavailable: cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev java python2 ts viz cnn_3dobj cvv hdf matlab sfm

-- GUI: -- QT: NO -- GTK+ 2.x: YES (ver 2.24.31) -- GThread : YES (ver 2.50.3) -- GtkGlExt: NO -- OpenGL support: NO -- VTK support: NO

-- Media I/O: -- ZLib: zlib (ver 1.2.8) -- JPEG: libjpeg (ver 90) -- WEBP: build (ver 0.3.1) -- PNG: build (ver 1.6.24) -- TIFF: build (ver 42 - 4.0.2) -- JPEG 2000: build (ver 1.900.1) -- OpenEXR: build (ver 1.7.1) -- GDAL: NO -- GDCM: NO

-- Video I/O: -- DC1394 1.x: NO -- DC1394 2.x: YES (ver 2.2.5) -- FFMPEG: NO -- avcodec: YES (ver 57.64.101) -- avformat: YES (ver 57.56.101) -- avutil: YES (ver 55.34.101) -- swscale: YES (ver 4.2.100) -- avresample: NO -- GStreamer: NO -- OpenNI: NO -- OpenNI PrimeSensor Modules: NO -- OpenNI2: NO -- PvAPI: NO -- GigEVisionSDK: NO -- Aravis SDK: NO -- UniCap: NO -- UniCap ucil: NO -- V4L/V4L2: NO/YES -- XIMEA: NO -- Xine: NO -- gPhoto2: NO

-- Parallel framework: pthreads

-- Other third-party libraries: -- Use IPP: NO -- Use VA: NO -- Use Intel VA-API/OpenCL: NO -- Use Lapack: NO -- Use Eigen: NO -- Use Cuda: NO -- Use OpenCL: YES -- Use OpenVX: NO -- Use custom HAL: YES (carotene (ver 0.0.1))

-- OpenCL: -- Include path: /home/pi/rpi/src/opencv-3.2.0/3rdparty/include/opencl/1.2 -- Use AMDFFT: NO -- Use AMDBLAS: NO

-- Python 2: -- Interpreter: NO

-- Python 3: -- Interpreter: /usr/bin/python3 (ver 3.5.2) -- Libraries: /home/pi/rpi/rootfs/usr/lib/arm-linux-gnueabihf/libpython3.5m.so (ver 3.5.3) -- numpy: /home/pi/rpi/rootfs/usr/lib/python3/dist-packages/numpy/core/include (ver undefined - cannot be probed because of the cross-compilation) -- packages path: /home/pi/rpi/rootfs/usr/local/lib/python3.5/site-packages

-- Python (for build): /usr/bin/python3

-- Java: -- ant: NO -- JNI: NO -- Java wrappers: NO -- Java tests: NO

-- Matlab: Matlab not found or implicitly disabled

-- Documentation: -- Doxygen: NO

-- Tests and samples: -- Tests: NO -- Performance tests: NO -- C/C++ Examples: NO

-- Install path: /home/pi/rpi/rootfs/usr

-- cvconfig.h is in: /home/pi/rpi/build/opencv

-- -- Configuring done -- Generating done -- Build files have been written to: /home/pi/rpi/build/opencv

We see the following error, for make install.

It would be great to hear from you!

Hello,

I have tried to enable SSH over usb and it works well but I would like to point out that when enabled it messes up with the rest of the network config you propose (at least with DHCP, I have not tried static).

When USB is disconnected but both interfaces (usb0 and wlan0) are declared in "/etc/network/interface", DHCP works well and the pi can connect to the wifi and I can SSH to it. The weird part is that whenever I try to "apt-get install" something I get a "no route to host error". The weirdest part is that I can ping websites such as google.com but when I ping the websites with the "no route to host error" it doesn't work.

I noticed that when the ping fails the source IP is coming from the USB interface instead of wlan0. So I commented out the usb0 part in "/etc/network/interface" and it "solved" the problem.

Unfortunately I know not enough on the subject to be of much help and I just wanted to point it out in case this is a real issue (and not me doing something wrong).

Cheers

Hi, thanks for sharing your tips! There is something bothering me in the "01-setup.md" section about the "SSH key" part:

Isn't step 2 supposed to be done in the host ? Because so far the guest system doesn't know anything about xcs_server_rsa.pub. XCS~$ chmod 700 xcs_server_rsa xcs_server_rsa.pub

Since I do have a Windows based host I am using putty and puttygen for theses steps. I'am not sure if what I made will work with the rest of your notes (still a lot more to read) but if it works, would you like me to write down something about Putty for windows users for you to append to this .md? This question would also apply to the DNS part.

hello, I try to make your example work, but impossible: - /

I did it again 3x but I always have the same error:

[email protected]:~/rpi/build/hello/pi$

./make -- The C compiler identification is GNU 4.9.3 -- The CXX compiler identification is GNU 4.9.3 -- Check for working C compiler: /usr/bin/rpizero-gcc -- Check for working C compiler: /usr/bin/rpizero-gcc -- broken CMake Error at /usr/share/cmake-3.10/Modules/CMakeTestCCompiler.cmake:52 (message): The C compiler

"/usr/bin/rpizero-gcc"

is not able to compile a simple test program.

It fails with the following output:

Change Dir: /home/pi/rpi/build/hello/pi/CMakeFiles/CMakeTmp

Run Build Command:"/home/pi/rpi/rootfs/usr/bin/make" "cmTC_cbaa5/fast"
/home/pi/rpi/rootfs/usr/bin/make: 1: /home/pi/rpi/rootfs/usr/bin/make: Syntax error: word unexpected (expecting ")")

I do not understand what I'm doing wrong ... an idea? thansk

Hi, I used your guide to setup a cross-compile environment. I'm using ubuntu 18 and Ros melodic.

First of al I have it running now.

My observations:

1. I used in first instance ~ for /home/pi in the "rpi-generic-toolchain.cmake" file, as my home directory is named differently. I thought that would be more generic. Well it doesn't work, you might want to make that explicit in your documentation. I ended up just changing the pi reverence to fit my home directory.
2. I Got in the same issue as some other people that the running the command: cmake -D CMAKE_TOOLCHAIN_FILE=~/rpicross_notes/rpi-generic-toolchain.cmake ~/rpicross_notes/hello/pi would evoke the RPI make program. I think that is due to the statements: set( RPI_ROOTFS /home/pi/rpi/rootfs ) set( CMAKE_FIND_ROOT_PATH ${RPI_ROOTFS} ) in the "rpi-generic-toolchain.cmake" file. I solved this by adding: set( CMAKE_MAKE_PROGRAM "/usr/bin/make" CACHE FILEPATH "") in the "rpi-generic-toolchain.cmake" file.
3. with respect to broken links in your script are 4 files, there are however much more broken links in the "usr/lib/arm-linux-gnueabihf" directory. Are those not relevant or is your shell script just an example? I personally changed the links on the RPI to relative links. That might bite me when I update the RPI, but we will see then.

Moreover, some of the links in the MD files on the web point to no longer existing files.

Thanks Jacob

Key idea: VM as ROS-master with the RPi functioning as a node. This eases debugging and development as communication can happen via ROS and the final product needs to function in a ROS environment.

• [x] Install ROS in VM
• [x] create scripts to activate node in RPi
• [x] create hello/rosm/ examples
• [x] Update guide

Update cmake-files and toolchain such that the helloros example can both run native (x86/x64) in VM and on the RPi (arm)

• [x] Install ROS in VM
• [x] Update hello/ros/CMakeLists.txt to compile natively
• [x] Update rpi-generic-toolchain.cmake to compile example via `-D CMAKE_TOOLCHAIN_FILE'
• [x] Update guide

Update cmake-files and toolchain such that the hellocv example can both run native (x86/x64) in VM and on the RPi (arm)

• [x] Install OpenCV 3.2.0 in VM
• [x] Update hello/ocv/CMakeLists.txt to compile natively
• [x] Update rpi-generic-toolchain.cmake to compile example via `-D CMAKE_TOOLCHAIN_FILE'
• [x] Update guide

Update cmake-files and toolchain such that the hellopi example can both run native (x86/x64) in VM and on the RPi (arm)

• [x] Update hello/pi/CMakeLists.txt to compile natively
• [x] Update rpi-generic-toolchain.cmake to compile example via `-D CMAKE_TOOLCHAIN_FILE'
• [x] Update guide

When I try execute command XCS~$ sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall python-empy I get an errors:

Package python-empy is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source

Package python-rosinstall is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source
However the following packages replace it:
  python3-rosinstall

Package python-rosinstall-generator is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source
However the following packages replace it:
  python3-rosinstall-generator

Package python-wstool is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source
However the following packages replace it:
  python3-wstool

E: Unable to locate package python-rosdep
E: Package 'python-rosinstall-generator' has no installation candidate
E: Package 'python-wstool' has no installation candidate
E: Package 'python-rosinstall' has no installation candidate
E: Package 'python-empy' has no installation candidate

I tried to install python3 alternatives but execution of command

XCS~$ ./src/catkin/bin/catkin_make_isolated \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_TOOLCHAIN_FILE=/home/pi/rpicross_notes/rpi-generic-toolchain.cmake

gives me error

ImportError: "from catkin_pkg.topological_order import topological_order" failed: No module named catkin_pkg.cmake
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.

How can I fix it?

Hello. I've installed OpenCV 4.5.1 to Raspberry Pi 3b from apt repository. Now I'm trying to cross compile OpenCV test from your guide. I've succesffuly synced XCS with RPI using script sync-xcs-rpi.sh but now I cannot compile test example. CMake command executes successfully

cmake \
    -D CMAKE_TOOLCHAIN_FILE=$XC_RPI_BASE/rpicross_notes/rpi-generic-toolchain.cmake \
    $XC_RPI_BASE/rpicross_notes/hello/ocv

But make command gives a bunch of errors :

/home/pi/rpi/tools/arm-bcm2708/arm-rpi-4.9.3-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/4.9.3/../../../../arm-linux-gnueabihf/bin/ld: warning: libblas.so.3, needed by /home/pi/rpi/rootfs/lib/libarmadillo.so.10, not found (try using -rpath or -rpath-link)
/home/pi/rpi/tools/arm-bcm2708/arm-rpi-4.9.3-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/4.9.3/../../../../arm-linux-gnueabihf/bin/ld: warning: liblapack.so.3, needed by /home/pi/rpi/rootfs/lib/libarmadillo.so.10, not found (try using -rpath or -rpath-link)
CMakeFiles/hellocv.dir/hello.cpp.o: In function `main':
hello.cpp:(.text+0x94): undefined reference to `cv::imread(std::string const&, int)'
hello.cpp:(.text+0x13c): undefined reference to `cv::namedWindow(std::string const&, int)'
hello.cpp:(.text+0x1a0): undefined reference to `cv::imshow(std::string const&, cv::_InputArray const&)'
/home/pi/rpi/rootfs/usr/lib/arm-linux-gnueabihf/libopencv_surface_matching.so.4.5.1: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find(char, unsigned int) [email protected]_3.4.21'
/home/pi/rpi/rootfs/lib/libarmadillo.so.10: undefined reference to `zgemm_'
/home/pi/rpi/rootfs/usr/lib/arm-linux-gnueabihf/libarpack.so.2: undefined reference to `clahqr_'

and so on. I can build test file without errors on Raspberry Pi. How can I deal with it? Thank you.

Following your tutorial today to create a ross cross complile VM. Trying to cross compile gives me an error

./src/catkin/bin/catkin_make_isolated -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=/home/cross/rpicross_notes/rpi-generic-toolchain.cmake Traceback (most recent call last): File "./src/catkin/bin/catkin_make_isolated", line 12, in from catkin.builder import build_workspace_isolated File "./src/catkin/bin/../python/catkin/builder.py", line 66, in from catkin_pkg.terminal_color import ansi, disable_ANSI_colors, fmt, sanitize ImportError: No module named terminal_color

if I edit the builder.py to say from catkin_pkg.terminal_color import ansi, disable_ANSI_colors, fmt, sanitize instead, it fails to build with `ImportError: cannot import name ansi'

Any help would be appreciated.

When running the example in 10-ros-remote, roscore will complain about an incorrect set IP. While this is technically true (the IP of the HOST is used, which differs from the local IP of the VM), communication with roscore will still be possible. Issues when using remote-launch files will occur as these use the hostname of the VM.

A possible solution might lay in a different connection of the VM with the HOST. Currently this is nat-attached, while bridged might solve this issue. See: https://www.virtualbox.org/manual/ch06.html.

Since this requires the rewrite and retest of several steps, it will not be updated anytime soon.