Add ROS_ROOT configuration for cross-compilation

Add ROS_ROOT argument to compose.yaml, update toolchain CMake to search in ROS_ROOT, and modify final stage of Dockerfiles to copy to ROS_ROOT instead of TARGET_SYSROOT. Also add support for ROS2 lyrical distro.
2026-05-11 10:28:33 +03:00
parent 6cd4227324
commit e276ce3a64
6 changed files with 536 additions and 2 deletions
@@ -0,0 +1,96 @@
+ARG CC_PLATFORM_IMAGE
+ARG VENDOR_PACKAGES_IMAGE
+
+FROM ${CC_PLATFORM_IMAGE} AS ros_src
+
+ARG ROS_DISTRO
+WORKDIR /workspace
+RUN mkdir -p /workspace/src
+COPY ros2/${ROS_DISTRO}/ros_${ROS_DISTRO}.repos .
+RUN vcs import --shallow --workers 4 --input ros_${ROS_DISTRO}.repos src
+RUN echo "Build ros ${ROS_DISTRO}"
+
+FROM ${VENDOR_PACKAGES_IMAGE} AS vendor_images
+
+FROM ${CC_PLATFORM_IMAGE} AS ros_builder
+
+WORKDIR /workspace
+COPY --from=ros_src /workspace /workspace
+COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+COPY ros2/ros_cpp /workspace/src/ros_cpp
+
+RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
+    && touch src/ros2/rosbag2/rosbag2_storage_sqlite3/COLCON_IGNORE \
+    && touch src/ros-perception/image_transport_plugins/theora_image_transport/COLCON_IGNORE
+
+RUN MAKEFLAGS="-j6" colcon build \
+    --executor parallel \
+    --parallel-workers 6 \
+    --install-base ${TARGET_SYSROOT} \
+    --merge-install \
+    --packages-up-to ros_cpp \
+    --cmake-force-configure \
+    --cmake-args \
+    --no-warn-unused-cli \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
+    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+    -DBUILD_TESTING=OFF \
+    -DTRACETOOLS_DISABLED=ON \
+    -DCV_BRIDGE_DISABLE_PYTHON=ON
+
+# pybind11 python soabi issue
+WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rclpy
+RUN mv _rclpy_pybind11.cpython-310-x86_64-linux-gnu.so _rclpy_pybind11.cpython-310-aarch64-linux-gnu.so
+WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rosbag2_py
+RUN mv _transport.cpython-310-x86_64-linux-gnu.so _transport.cpython-310-aarch64-linux-gnu.so
+RUN mv _info.cpython-310-x86_64-linux-gnu.so _info.cpython-310-aarch64-linux-gnu.so
+RUN mv _compression_options.cpython-310-x86_64-linux-gnu.so _compression_options.cpython-310-aarch64-linux-gnu.so
+RUN mv _storage.cpython-310-x86_64-linux-gnu.so _storage.cpython-310-aarch64-linux-gnu.so
+RUN mv _reindexer.cpython-310-x86_64-linux-gnu.so _reindexer.cpython-310-aarch64-linux-gnu.so
+RUN mv _writer.cpython-310-x86_64-linux-gnu.so _writer.cpython-310-aarch64-linux-gnu.so
+RUN mv _message_definitions.cpython-310-x86_64-linux-gnu.so _message_definitions.cpython-310-aarch64-linux-gnu.so
+RUN mv _reader.cpython-310-x86_64-linux-gnu.so _reader.cpython-310-aarch64-linux-gnu.so
+
+FROM ${CC_PLATFORM_IMAGE} AS rmw_zenoh_builder
+
+COPY --from=ros_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+
+# rust install 
+RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
+RUN . "$HOME/.cargo/env"  \
+    && rustup install 1.75.0 \
+    && rustup default 1.75.0 \
+    && rustup target add aarch64-unknown-linux-gnu
+
+RUN mkdir rmw_zenoh_ws/src -p  \
+    && cd rmw_zenoh_ws/src \
+    && git clone --depth=1 -b rolling https://github.com/ros2/rmw_zenoh.git
+
+ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-none-linux-gnu-gcc
+
+RUN . "$HOME/.cargo/env" \
+    && . ${TARGET_SYSROOT}/local_setup.sh \
+    && colcon build \
+        --install-base ${TARGET_SYSROOT} \
+        --merge-install \
+        --packages-up-to rmw_zenoh_cpp \
+        --cmake-force-configure \
+        --cmake-args \
+        --no-warn-unused-cli \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
+        -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+        -DBUILD_TESTING=OFF \
+        -DZENOHC_CUSTOM_TARGET=aarch64-unknown-linux-gnu
+
+RUN cp -rf ${TARGET_SYSROOT}/opt/zenoh_cpp_vendor/include ${TARGET_SYSROOT} 
+RUN cp -rf ${TARGET_SYSROOT}/opt/zenoh_cpp_vendor/lib ${TARGET_SYSROOT} 
+RUN rm -rf ${TARGET_SYSROOT}/opt
+
+FROM ${CC_PLATFORM_IMAGE} AS final
+
+ARG ROS_ROOT
+ENV ROS_ROOT=${ROS_ROOT}
+COPY --from=rmw_zenoh_builder ${TARGET_SYSROOT} ${ROS_ROOT}
+WORKDIR /opt