本文介紹Ubuntu部署ROS常見編譯報(bào)錯(cuò)的解決方法。對(duì)編譯步驟感興趣可以查看上篇文章http://m.xsypw.cn/d/6788562.html

文章適用于瑞芯微旗下RK3562、RK3566、RK3568、RK3576、RK3588等Arm64位芯片平臺(tái)，各型號(hào)觸覺智能均有配套核心板及開發(fā)板，實(shí)現(xiàn)了百分百全國產(chǎn)。

常見編譯報(bào)錯(cuò)解決方法

編譯主機(jī)內(nèi)存不足
除了增加編譯主機(jī)內(nèi)存配置外，建議將可以開啟交換空間，例如zram：

sudo -i su # modprobe zram # echo 12G > /sys/block/zram0/disksize # echo 6G > /sys/block/zram0/mem_limit # mkswap /dev/zram0 # swapon /dev/zram0 # free -h total used free shared buff/cache available Mem: 14Gi 3.9Gi 5.5Gi 27Mi 5.4Gi 10Gi Swap: 11Gi 2.7Gi 9.3Gi

執(zhí)行時(shí)報(bào)`GLIBCXX_3.4.30' not found 錯(cuò)誤
在主板端執(zhí)行以上報(bào)錯(cuò)，是因?yàn)镽K Linux SDK版本較多， 工具鏈版本一直在更新，因此需要使用Linux SDK編譯Rootfs的交叉工具來編譯ROS2。

root@rk3562-buildroot:/opt/ros-foxy# ros2 run demo_nodes_cpp talker /opt/ros-foxy/lib/demo_nodes_cpp/talker: /lib/libstdc++.so.6: version `GLIBCXX_3.4.30' not found (required by /opt/ros-foxy/lib/librclcpp.so) /opt/ros-foxy/lib/demo_nodes_cpp/talker: /lib/libstdc++.so.6: version `GLIBCXX_3.4.30' not found (required by /opt/ros-foxy/lib/libspdlog.so.1)

編譯結(jié)果中出現(xiàn)x86_64動(dòng)態(tài)庫

ls /opt/ros/lib/python3.10/site-packages/rclpy/_rclpy_pybind11.cpython-310- x86_64-linux-gnu.so

pybind11在交叉編譯的環(huán)境中， 確實(shí)是會(huì)有一些已知的問題。找到的python是HOST端的可執(zhí)行文件，因此一系列參數(shù)也是根據(jù)HOST端生成，如：

PYTHON_MODULE_EXTENSION:INTERNAL=.cpython-310-x86_64-linux-gnu.so

在pybind11/tools/FindPythonLibsNew.cmake較新的代碼中，建議若是Cross Compling，可在外部手動(dòng)添加python的參數(shù)：

1. 修改src/ros2/pybind11_vendor中pybind11升級(jí)到v2.10.2。

2. 并在pybind11_verdor/CMakeLists.txt中設(shè)置以下2個(gè)參數(shù)，

指定具體的 PYTHON_MODULE_EXTENSION：

list(APPEND extra_cmake_args "-DPYBIND11_PYTHONLIBS_OVERWRITE=OFF") list(APPEND extra_cmake_args "-DPYTHON_MODULE_EXTENSION=.cpython-310- aarch64-linux-gnu.so")

3. 在cross-compile.mixin中，也聲明：

- "-DPYBIND11_PYTHONLIBS_OVERWRITE=OFF" - "-DPYTHON_MODULE_EXTENSION=.cpython-310-aarch64-linux-gnu.so"

上述修改后， 仍然發(fā)現(xiàn)rclpy在編譯時(shí)，其CMakeCache.txt文件中得到的

PYTHON_MODULE_EXTENSION仍指向"x86_64"，但第二次再編譯時(shí)，會(huì)被修改成預(yù)期的aarch64。有以下原因：

1. 在pybind11/tools/pybind11NewTools.cmake中， 若未設(shè)置過

PYBIND11_PYTHON_EXECUTABLE_LAST、或它值被修改了，會(huì)直接清空PYTHON_MODULE_EXTENSION。

76 if(NOT ${_Python}_EXECUTABLE STREQUAL PYBIND11_PYTHON_EXECUTABLE_LAST) 77 # Detect changes to the Python version/binary in subsequent CMake runs, and refresh config if needed 78 unset(PYTHON_IS_DEBUG CACHE) 79 unset(PYTHON_MODULE_EXTENSION CACHE) 80 set(PYBIND11_PYTHON_EXECUTABLE_LAST 81 "${${_Python}_EXECUTABLE}" 82 CACHE INTERNAL "Python executable during the last CMake run") 83 endif()

2. 在pybind11 issue #236 也有類似的現(xiàn)象。

3. 修改pybind11解決： 若是PYBIND11_PYTHONLIBS_OVERWRITE="OFF"，則不重設(shè)上述參數(shù)：

commit f7f1f2a927dd785d109833e411325de4c248719f (HEAD -> v2.10.2-fix) Author: cross-build for rk-linux-sdk Date: Fri Sep 22 08:24:58 2023 +0000 Do not override the PYTHON_MODULE_EXTENSION if cross building As suggested in tools/FindPythonLibsNew.cmake, PYBIND11_PYTHONLIBS_OVERWRITE is a flag to indicate that we set python variables manually when cross building. In this case, do not override variables if PYBIND11_PYTHON_EXECUTABLE_LAST changed or is empty. diff --git a/tools/pybind11NewTools.cmake b/tools/pybind11NewTools.cmake index 7d7424a7..91980dad 100644 --- a/tools/pybind11NewTools.cmake +++ b/tools/pybind11NewTools.cmake @@ -73,7 +73,7 @@ if(NOT DEFINED ${_Python}_EXECUTABLE) endif() -if(NOT ${_Python}_EXECUTABLE STREQUAL PYBIND11_PYTHON_EXECUTABLE_LAST) 7.4 google_benchmark工程缺少limits頭文件 編譯foxy時(shí)會(huì)報(bào)如下錯(cuò)誤， 原因是缺少頭文件： 該修改在ROS2較新版本中已經(jīng)修復(fù)； 補(bǔ)丁包也有包含 7.5 Linux SDK工具鏈中定義_FORTIFY_SOURCE +if(NOT ${_Python}_EXECUTABLE STREQUAL PYBIND11_PYTHON_EXECUTABLE_LAST AND NOT PYBIND11_PYTHONLIBS_OVERWRITE STREQUAL "OFF") # Detect changes to the Python version/binary in subsequent CMake runs, and refresh config if needed unset(PYTHON_IS_DEBUG CACHE) unset(PYTH

google_benchmark工程缺少limits頭文件
編譯foxy時(shí)會(huì)報(bào)如下錯(cuò)誤：

In file included from /buildroot/build/ros/google_benchmark_vendor/benchmark- 1.5.2-prefix/src/benchmark-1.5.2/src/benchmark_register.cc:15: /buildroot/build/ros/google_benchmark_vendor/benchmark-1.5.2- prefix/src/benchmark-1.5.2/src/benchmark_register.h: In function ‘typename std::vector::iterator benchmark::internal::AddPowers(std::vector*, T, T, int)’: /buildroot/build/ros/google_benchmark_vendor/benchmark-1.5.2- prefix/src/benchmark-1.5.2/src/benchmark_register.h:22:30: error: ‘numeric_limits’ is not a member of ‘std’ 22 | static const T kmax = std::numeric_limits::max(); | ^~~~~~~~~~~~~~

原因是缺少頭文件：

/buildroot/build/ros/google_benchmark_vendor/benchmark-1.5.2- prefix/src/benchmark-1.5.2/src/benchmark_register.h #include

Linux SDK工具鏈中定義_FORTIFY_SOURCE

--- stderr: mimick_vendor Cloning into 'mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039'... fatal: unable to access 'https://github.com/ros2/Mimick.git/': gnutls_handshake() failed: Error in the pull function. Cloning into 'mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039'... HEAD is now at f171450 Add armv7l as a 32-bit ARM architecture. (#16) In file included from /opt/aarch64-buildroot-linux-gnu_sdk-buildroot/aarch64- buildroot-linux-gnu/sysroot/usr/include/errno.h:25, from /buildroot/build/ros/mimick_vendor/mimickf171450b5ebaa3d2538c762a059dfc6ab7a01039-prefix/src/mimickf171450b5ebaa3d2538c762a059dfc6ab7a01039/include/mimick/mock.h:27, from /buildroot/build/ros/mimick_vendor/mimickf171450b5ebaa3d2538c762a059dfc6ab7a01039-prefix/src/mimickf171450b5ebaa3d2538c762a059dfc6ab7a01039/include/mimick/mimick.h:401, from /buildroot/build/ros/mimick_vendor/mimickf171450b5ebaa3d2538c762a059dfc6ab7a01039-prefix/src/mimickf171450b5ebaa3d2538c762a059dfc6ab7a01039/sample/strdup/test.c:1: 報(bào)錯(cuò)僅在指定了-DCMAKE_TOOLCHAIN_FILE="/opt/aarch64-buildroot-linux-gnu_sdkbuildroot/share/buildroot/toolchainfile.cmake"交叉工具鏈，且該cmake定義了_FORTIFY_SOURCE 可不指定CMAKE_TOOLCHAIN_FILE，或刪除_FORTIFY_SOURCE 7.6 CMake找不到exlibConfig.cmake 編譯ament_cmake_vendor_package報(bào)找不到exlib，但實(shí)際該exlib庫都被正確指定了。 /opt/aarch64-buildroot-linux-gnu_sdk-buildroot/aarch64-buildroot-linuxgnu/sysroot/usr/include/features.h:412:4: error: #warning _FORTIFY_SOURCE requires compiling with optimization (-O) [-Werror=cpp] 412 | # warning _FORTIFY_SOURCE requires compiling with optimization (-O) | ^~~~~~~ cc1: all warnings being treated as errors make[5]: *** [sample/strdup/CMakeFiles/strdup_test.dir/build.make:63: sample/strdup/CMakeFiles/strdup_test.dir/test.c.o] Error 1 make[4]: *** [CMakeFiles/Makefile2:302: sample/strdup/CMakeFiles/strdup_test.dir/all] Error 2 make[4]: *** Waiting for unfinished jobs.... In file included from /opt/aarch64-buildroot-linux-gnu_sdk-buildroot/aarch64- buildroot-linux-gnu/sysroot/usr/include/errno.h:25, from /buildroot/build/ros/mimick_vendor/mimickf171450b5ebaa3d2538c762a059dfc6ab7a01039-prefix/src/mimickf171450b5ebaa3d2538c762a059dfc6ab7a01039/include/mimick/mock.h:27, from /buildroot/build/ros/mimick_vendor/mimickf171450b5ebaa3d2538c762a059dfc6ab7a01039-prefix/src/mimickf171450b5ebaa3d2538c762a059dfc6ab7a01039/include/mimick/mimick.h:401, from /buildroot/build/ros/mimick_vendor/mimickf171450b5ebaa3d2538c762a059dfc6ab7a01039-prefix/src/mimickf171450b5ebaa3d2538c762a059dfc6ab7a01039/test/test.c:1: /opt/aarch64-buildroot-linux-gnu_sdk-buildroot/aarch64-buildroot-linuxgnu/sysroot/usr/include/features.h:412:4: error: #warning _FORTIFY_SOURCE requires compiling with optimization (-O) [-Werror=cpp] 412 | # warning _FORTIFY_SOURCE requires compiling with optimization (-O) | ^~~~~~~ cc1: all warnings being treated as errors

報(bào)錯(cuò)僅指定了

-DCMAKE_TOOLCHAIN_FILE="/opt/aarch64-buildroot-linux-gnu_sdkbuildroot/share/buildroot/toolchainfile.cmake"交叉工具鏈，且該cmake定義了_FORTIFY_SOURCE。

可不指定CMAKE_TOOLCHAIN_FILE，或刪除_FORTIFY_SOURCE。

CMake找不到exlibConfig.cmake
編譯ament_cmake_vendor_package報(bào)找不到exlib，但實(shí)際該exlib庫都被正確指定了。

root@db4be0cd3eca:/buildroot/build/ros/ament_cmake_vendor_package/test# make [ 33%] Built target exlib_bad [ 66%] Built target exlib_good [ 71%] Performing configure step for 'depender' loading initial cache file /buildroot/build/ros/ament_cmake_vendor_package/test/depender-config.cmake CMake Error at CMakeLists.txt:4 (find_package): By not providing "Findexlib.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "exlib", but CMake did not find one. Could not find a package configuration file provided by "exlib" with any of the following names: exlibConfig.cmake exlib-config.cmake Add the installation prefix of "exlib" to CMAKE_PREFIX_PATH or set "exlib_DIR" to a directory containing one of the above files. If "exlib" provides a separate development package or SDK, be sure it has been installed. # strace make 可以看到： [pid 458018] newfstatat(AT_FDCWD, "/opt/aarch64-buildroot-linux-gnu_sdkbuildroot/aarch64-buildroot-linuxgnu/sysroot/buildroot/build/ros/ament_cmake_vendor_package/test/exlib_badprefix/install", 0x7ffca495cf50, 0) = -1 ENOENT (No such file or directory) # ： # grep CMAKE_PREFIX_PATH depender-config.cmake set(CMAKE_PREFIX_PATH [= [/buildroot/build/ros/ament_cmake_vendor_package/test/exlib_badprefix/install;/buildroot/build/ros/ament_cmake_vendor_package/test/exlib_goodprefix/install;/buildroot/build/ros/ament_cmake_vendor_package/test/dependerprefix/install]=] CACHE INTERNAL "") 它去找了Toolchain目錄下的sysroot/$CMAKE_PREFIX_PATH，所以找不到。

CMAKE_PREFIX_PATH設(shè)置是正確的，有包含exlib庫的路徑。

通過strace make 可以看到工具鏈實(shí)際去找的路徑不正確，多加了

/opt/aarch64-buildroot-linuxgnu_sdk-buildroot/aarch64-buildroot-linux-gnu/sysroot/

原因： colcon命令中指定了參數(shù)

--cmake-args -DCMAKE_TOOLCHAIN_FILE="/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/share/buildroot/toolchainfile.cmake" ，該設(shè)置與export環(huán)境變量mimix中設(shè)置的編譯工具鏈不同導(dǎo)致。

pkg-config找不到

Starting >>> tracetools --- stderr: tracetools CMake Error at /usr/share/cmake- 3.22/Modules/FindPackageHandleStandardArgs.cmake:230(message): Could NOT find PkgConfig (missing: PKG_CONFIG_EXECUTABLE) Reason given by package: The command "/usr/bin/pkg-config" --version failed with output: stderr: /usr/bin/pkg-config: symbol lookup error: /usr/bin/pkg-config: undefined symbol: pkgconf_cross_personality_deinit result: 127 Call Stack (most recent call first): /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:594 (_FPHSA_FAILURE_MESSAGE) /usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:99 (find_package_handle_standard_args) CMakeLists.txt:35 (find_package)

首先docker中應(yīng)該有安裝pkgconf（不是pkg-config），cmake中pkg_check_modules()會(huì)使用到。
Linux SDK中如果也編譯了pkgconf，也會(huì)編譯host-pkgconf，因?yàn)榕cdocker的pkgconf版本不同， 在pkgconf.so動(dòng)態(tài)庫搜索時(shí)， 找到的是buildroot 編譯的host pkgconf.so，所以失敗。

需要設(shè)置PKG_CONFIG_PATH
在編譯src/ros2/ros2_tracing/tracetools/時(shí)， 其CMakeLists.txt中指定：

pkg_check_modules(LTTNG REQUIRED lttng-ust)

編譯報(bào)錯(cuò)：

Starting >>> tracetools --- stderr: tracetools CMake Error at /usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:611 (message): A required package was not found Call Stack (most recent call first): /usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:833 (_pkg_check_modules_internal) CMakeLists.txt:36 (pkg_check_modules)

通過strace -f 去抓取log， 發(fā)現(xiàn)并未在Linux SDK的sysroot中去查找，因此報(bào)錯(cuò)。

需要設(shè)置以下環(huán)境變量：

export PKG_CONFIG_PATH=/buildroot/host/aarch64-buildroot-linuxgnu/sysroot/usr/lib/pkgconfig

另一種情況是pkg-config找到了docker中的lttng，而不是target目標(biāo)的，并報(bào)錯(cuò)如下：

Starting >>> tracetools --- stderr: tracetools /usr/lib/gcc-cross/aarch64-linux-gnu/11/../../../../aarch64-linux-gnu/bin/ld: cannot find -llttng-ust-common: No such file or directory collect2: error: ld returned 1 exit status gmake[2]: *** [CMakeFiles/tracetools.dir/build.make:129: libtracetools.so] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:161: CMakeFiles/tracetools.dir/all] Error 2 gmake[1]: *** Waiting for unfinished jobs.... gmake: *** [Makefile:146: all] Error 2 --- Failed <<< tracetools [4.72s, exited with code 2]

因?yàn)檎业降氖莇ocker的lttng，它的版本與buildroot不同， 前者lttng-ust.pc聲明需要鏈接lttng-ustcommon，但buildroot中缺少lttng-ust-common這個(gè)庫。

同樣需要設(shè)置環(huán)境變量：

export PKG_CONFIG_PATH=/buildroot/host/aarch64-buildroot-linuxgnu/sysroot/usr/lib/pkgconfig

該參數(shù)已經(jīng)在編譯腳本中指定

Docker中可以不安裝lttng包

需要設(shè)置CMAKE_INCLUDE_PATH

Starting >>> orocos_kdl_vendor --- stderr: orocos_kdl_vendor Cloning into 'orocos_kdl-507de66'... done. HEAD is now at 507de66 Fix CMake warning on Windows (#392) Submodule 'python_orocos_kdl/pybind11' (https://github.com/pybind/pybind11.git) registered for path 'python_orocos_kdl/pybind11' Cloning into '/buildroot/build/ros/orocos_kdl_vendor/orocos_kdl-507de66- prefix/src/orocos_kdl-507de66/python_orocos_kdl/pybind11'... CMake Error: The following variables are used in this project, but they are set to NOTFOUND. Please set them or make sure they are set and tested correctly in the CMake files: EIGEN3_INCLUDE_DIR (ADVANCED)

因?yàn)長(zhǎng)inux SDK編譯過程中生成的include文件路徑需要單獨(dú)指定， 否則cmake無法搜索得到，如下：

export CMAKE_INCLUDE_PATH='/buildroot/host/aarch64-buildroot-linuxgnu/sysroot/usr/include/'
該參數(shù)已經(jīng)在編譯腳本中指定

unsafe header/library used in cross-compilation --- stderr: action_msgs aarch64-buildroot-linux-gnu-gcc: WARNING: unsafe header/library path used in cross-compilation: '-isystem' '/usr/local/lib/python3.10/distpackages/numpy/core/include' 在交叉編譯過程中， python使用的是host端的/usr/bin/python，當(dāng)numpy/numpyconfig.h查找不到時(shí)， 下列 的獲取include dir無法正確得到目標(biāo)板子的路徑： # Check if numpy is in the include path find_file(_numpy_h numpy/numpyconfig.h PATHS ${PythonExtra_INCLUDE_DIRS} ) if(APPLE OR WIN32 OR NOT _numpy_h) # add include directory for numpy headers set(_python_code "import numpy" "print(numpy.get_include())" )

明確是由PythonExtra_INCLUDE_DIRS定義查找路徑后， 在pybind11中查找該參數(shù)的定義是來自PYTHON_INCLUDE_DIR，因?yàn)槲覀兪墙徊婢幾g，可在cross_compile.mimix中預(yù)設(shè)好該值。該參數(shù)已經(jīng)在編譯腳本中指定，可以指定多個(gè)目錄。

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