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Add ROS_ROOT configuration for cross-compilation

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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.
This commit is contained in:
EricX-Zhao
2026-05-11 10:28:33 +03:00
parent 6cd4227324
commit e276ce3a64
6 changed files with 536 additions and 2 deletions
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cross_compile/ros2/lyrical/ros_lyrical.repos
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repositories:
ament/ament_cmake:
type: git
url: https://github.com/ament/ament_cmake.git
version: lyrical
ament/ament_index:
type: git
url: https://github.com/ament/ament_index.git
version: lyrical
ament/ament_lint:
type: git
url: https://github.com/ament/ament_lint.git
version: lyrical
ament/ament_package:
type: git
url: https://github.com/ament/ament_package.git
version: lyrical
ament/google_benchmark_vendor:
type: git
url: https://github.com/ament/google_benchmark_vendor.git
version: lyrical
ament/googletest:
type: git
url: https://github.com/ament/googletest.git
version: lyrical
diagnostics:
type: git
url: https://github.com/ros/diagnostics.git
version: ros2
eProsima/Fast-CDR:
type: git
url: https://github.com/eProsima/Fast-CDR.git
version: 2.3.x
eProsima/Fast-DDS:
type: git
url: https://github.com/eProsima/Fast-DDS.git
version: 3.6.x
eProsima/foonathan_memory_vendor:
type: git
url: https://github.com/eProsima/foonathan_memory_vendor.git
version: master
osrf/osrf_pycommon:
type: git
url: https://github.com/osrf/osrf_pycommon.git
version: master
osrf/osrf_testing_tools_cpp:
type: git
url: https://github.com/osrf/osrf_testing_tools_cpp.git
version: lyrical
ros-perception/pcl_msgs:
type: git
url: https://github.com/ros-perception/pcl_msgs.git
version: ros2
ros-perception/image_common:
type: git
url: https://github.com/ros-perception/image_common.git
version: lyrical
ros-perception/laser_geometry:
type: git
url: https://github.com/ros-perception/laser_geometry.git
version: lyrical
ros-perception/perception_pcl:
type: git
url: https://github.com/ros-perception/perception_pcl.git
version: ros2
ros-perception/point_cloud_transport:
type: git
url: https://github.com/ros-perception/point_cloud_transport.git
version: lyrical
ros-planning/navigation_msgs:
type: git
url: https://github.com/ros-planning/navigation_msgs.git
version: lyrical
ros-tooling/keyboard_handler:
type: git
url: https://github.com/ros-tooling/keyboard_handler.git
version: lyrical
ros-tooling/libstatistics_collector:
type: git
url: https://github.com/ros-tooling/libstatistics_collector.git
version: lyrical
ros-visualization/interactive_markers:
type: git
url: https://github.com/ros-visualization/interactive_markers.git
version: lyrical
ros-visualization/python_qt_binding:
type: git
url: https://github.com/ros-visualization/python_qt_binding.git
version: lyrical
ros-visualization/qt_gui_core:
type: git
url: https://github.com/ros-visualization/qt_gui_core.git
version: lyrical
ros-visualization/rqt:
type: git
url: https://github.com/ros-visualization/rqt.git
version: lyrical
ros-visualization/rqt_action:
type: git
url: https://github.com/ros-visualization/rqt_action.git
version: lyrical
ros-visualization/rqt_bag:
type: git
url: https://github.com/ros-visualization/rqt_bag.git
version: lyrical
ros-visualization/rqt_console:
type: git
url: https://github.com/ros-visualization/rqt_console.git
version: lyrical
ros-visualization/rqt_graph:
type: git
url: https://github.com/ros-visualization/rqt_graph.git
version: lyrical
ros-visualization/rqt_msg:
type: git
url: https://github.com/ros-visualization/rqt_msg.git
version: lyrical
ros-visualization/rqt_plot:
type: git
url: https://github.com/ros-visualization/rqt_plot.git
version: lyrical
ros-visualization/rqt_publisher:
type: git
url: https://github.com/ros-visualization/rqt_publisher.git
version: lyrical
ros-visualization/rqt_py_console:
type: git
url: https://github.com/ros-visualization/rqt_py_console.git
version: lyrical
ros-visualization/rqt_reconfigure:
type: git
url: https://github.com/ros-visualization/rqt_reconfigure.git
version: lyrical
ros-visualization/rqt_service_caller:
type: git
url: https://github.com/ros-visualization/rqt_service_caller.git
version: lyrical
ros-visualization/rqt_shell:
type: git
url: https://github.com/ros-visualization/rqt_shell.git
version: lyrical
ros-visualization/rqt_srv:
type: git
url: https://github.com/ros-visualization/rqt_srv.git
version: lyrical
ros-visualization/rqt_topic:
type: git
url: https://github.com/ros-visualization/rqt_topic.git
version: lyrical
ros-visualization/tango_icons_vendor:
type: git
url: https://github.com/ros-visualization/tango_icons_vendor.git
version: lyrical
ros/class_loader:
type: git
url: https://github.com/ros/class_loader.git
version: lyrical
ros/kdl_parser:
type: git
url: https://github.com/ros/kdl_parser.git
version: lyrical
ros/pluginlib:
type: git
url: https://github.com/ros/pluginlib.git
version: lyrical
ros/resource_retriever:
type: git
url: https://github.com/ros/resource_retriever.git
version: lyrical
ros/robot_state_publisher:
type: git
url: https://github.com/ros/robot_state_publisher.git
version: lyrical
ros/ros_environment:
type: git
url: https://github.com/ros/ros_environment.git
version: lyrical
ros/ros_tutorials:
type: git
url: https://github.com/ros/ros_tutorials.git
version: lyrical
ros/urdfdom:
type: git
url: https://github.com/ros/urdfdom.git
version: lyrical
ros/urdfdom_headers:
type: git
url: https://github.com/ros/urdfdom_headers.git
version: lyrical
ros/eigen_stl_containers:
type: git
url: https://github.com/ros/eigen_stl_containers.git
version: ros2
ros/angles:
type: git
url: https://github.com/ros/angles.git
version: ros2
ros-geographic-info:
type: git
url: https://github.com/ros-geographic-info/geographic_info.git
version: ros2
ros2/ament_cmake_ros:
type: git
url: https://github.com/ros2/ament_cmake_ros.git
version: lyrical
ros2/common_interfaces:
type: git
url: https://github.com/ros2/common_interfaces.git
version: lyrical
ros2/demos:
type: git
url: https://github.com/ros2/demos.git
version: lyrical
ros2/eigen3_cmake_module:
type: git
url: https://github.com/ros2/eigen3_cmake_module.git
version: lyrical
ros2/example_interfaces:
type: git
url: https://github.com/ros2/example_interfaces.git
version: lyrical
ros2/examples:
type: git
url: https://github.com/ros2/examples.git
version: lyrical
ros2/geometry2:
type: git
url: https://github.com/ros2/geometry2.git
version: lyrical
ros2/launch:
type: git
url: https://github.com/ros2/launch.git
version: lyrical
ros2/launch_ros:
type: git
url: https://github.com/ros2/launch_ros.git
version: lyrical
ros2/message_filters:
type: git
url: https://github.com/ros2/message_filters.git
version: lyrical
ros2/performance_test_fixture:
type: git
url: https://github.com/ros2/performance_test_fixture.git
version: lyrical
ros2/rcl:
type: git
url: https://github.com/ros2/rcl.git
version: lyrical
ros2/rcl_interfaces:
type: git
url: https://github.com/ros2/rcl_interfaces.git
version: lyrical
ros2/rcl_logging:
type: git
url: https://github.com/ros2/rcl_logging.git
version: lyrical
ros2/rclcpp:
type: git
url: https://github.com/ros2/rclcpp.git
version: lyrical
ros2/rclpy:
type: git
url: https://github.com/ros2/rclpy.git
version: lyrical
ros2/rcpputils:
type: git
url: https://github.com/ros2/rcpputils.git
version: lyrical
ros2/rcutils:
type: git
url: https://github.com/ros2/rcutils.git
version: lyrical
ros2/realtime_support:
type: git
url: https://github.com/ros2/realtime_support.git
version: lyrical
ros2/rmw:
type: git
url: https://github.com/ros2/rmw.git
version: lyrical
ros2/rmw_connextdds:
type: git
url: https://github.com/ros2/rmw_connextdds.git
version: lyrical
ros2/rmw_cyclonedds:
type: git
url: https://github.com/ros2/rmw_cyclonedds.git
version: lyrical
ros2/rmw_dds_common:
type: git
url: https://github.com/ros2/rmw_dds_common.git
version: lyrical
ros2/rmw_fastrtps:
type: git
url: https://github.com/ros2/rmw_fastrtps.git
version: lyrical
ros2/rmw_implementation:
type: git
url: https://github.com/ros2/rmw_implementation.git
version: lyrical
ros2/ros2_tracing:
type: git
url: https://github.com/ros2/ros2_tracing.git
version: lyrical
ros2/ros2cli:
type: git
url: https://github.com/ros2/ros2cli.git
version: lyrical
ros2/ros2cli_common_extensions:
type: git
url: https://github.com/ros2/ros2cli_common_extensions.git
version: lyrical
ros2/ros_testing:
type: git
url: https://github.com/ros2/ros_testing.git
version: lyrical
ros2/rosbag2:
type: git
url: https://github.com/ros2/rosbag2.git
version: lyrical
ros2/rosidl:
type: git
url: https://github.com/ros2/rosidl.git
version: lyrical
ros2/rosidl_core:
type: git
url: https://github.com/ros2/rosidl_core.git
version: lyrical
ros2/rosidl_dds:
type: git
url: https://github.com/ros2/rosidl_dds.git
version: lyrical
ros2/rosidl_defaults:
type: git
url: https://github.com/ros2/rosidl_defaults.git
version: lyrical
ros2/rosidl_dynamic_typesupport:
type: git
url: https://github.com/ros2/rosidl_dynamic_typesupport.git
version: lyrical
ros2/rosidl_dynamic_typesupport_fastrtps:
type: git
url: https://github.com/ros2/rosidl_dynamic_typesupport_fastrtps.git
version: lyrical
ros2/rosidl_python:
type: git
url: https://github.com/ros2/rosidl_python.git
version: lyrical
ros2/rosidl_runtime_py:
type: git
url: https://github.com/ros2/rosidl_runtime_py.git
version: lyrical
ros2/rosidl_typesupport:
type: git
url: https://github.com/ros2/rosidl_typesupport.git
version: lyrical
ros2/rosidl_typesupport_fastrtps:
type: git
url: https://github.com/ros2/rosidl_typesupport_fastrtps.git
version: lyrical
ros2/rpyutils:
type: git
url: https://github.com/ros2/rpyutils.git
version: lyrical
ros2/rviz:
type: git
url: https://github.com/ros2/rviz.git
version: lyrical
ros2/sros2:
type: git
url: https://github.com/ros2/sros2.git
version: lyrical
ros2/system_tests:
type: git
url: https://github.com/ros2/system_tests.git
version: lyrical
ros2/test_interface_files:
type: git
url: https://github.com/ros2/test_interface_files.git
version: lyrical
ros2/tlsf:
type: git
url: https://github.com/ros2/tlsf.git
version: lyrical
ros2/unique_identifier_msgs:
type: git
url: https://github.com/ros2/unique_identifier_msgs.git
version: lyrical
ros2/urdf:
type: git
url: https://github.com/ros2/urdf.git
version: lyrical
vision_msgs:
type: git
url: https://github.com/ros-perception/vision_msgs.git
version: ros2
ros2/console_bridge_vendor:
type: git
url: https://github.com/ros2/console_bridge_vendor.git
version: lyrical
ros2/libyaml_vendor:
type: git
url: https://github.com/ros2/libyaml_vendor.git
version: lyrical
ros2/spdlog_vendor:
type: git
url: https://github.com/ros2/spdlog_vendor.git
version: lyrical
ros2/yaml_cpp_vendor:
type: git
url: https://github.com/ros2/yaml_cpp_vendor.git
version: lyrical
ffmpeg_image_transport_msgs:
type: git
url: https://github.com/ros-misc-utilities/ffmpeg_image_transport_msgs.git
version: rolling
ros-perception/image_transport_plugins:
type: git
url: https://github.com/ros-perception/image_transport_plugins.git
version: rolling
ros2/python_cmake_module:
type: git
url: https://github.com/ros2/python_cmake_module.git
version: rolling
vision_opencv:
type: git
url: https://github.com/ros-perception/vision_opencv.git
version: rolling