build ros rolling image

cross_compile/compose.yaml

@@ -24,7 +24,7 @@ services:
       dockerfile: vendor_packages/Dockerfile.vendor_packages
       args:
         CC_PLATFORM_IMAGE: cc-${PLATFORM}:latest
-    image: vendor-packages:${PLATFORM}
+    image: cc-vendor-packages:${PLATFORM}
     depends_on:
       - cc-platform
 
@@ -36,7 +36,7 @@ services:
         ROS_DISTRO: rolling
         PLATFORM: ${PLATFORM}
         CC_PLATFORM_IMAGE: cc-${PLATFORM}:latest
-        VENDOR_PACKAGES_IMAGE: vendor-packages:${PLATFORM}
+        VENDOR_PACKAGES_IMAGE: cc-vendor-packages:${PLATFORM}
     image: cc-ros-${ROS_DISTRO}:${PLATFORM}
     depends_on:
       - vendor-packages

cross_compile/ros2/Dockerfile.ros_rolling

@@ -15,11 +15,14 @@ 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/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 \
@@ -36,3 +39,56 @@ RUN MAKEFLAGS="-j6" colcon build \
     -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 -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
+
+COPY --from=rmw_zenoh_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}

cross_compile/ros2/ros_cpp/package.xml

@@ -17,8 +17,6 @@
   <depend>opencv_vendor</depend> -->
   <depend>console_bridge_vendor</depend>
 
-  <depend>rcl_lifecycle</depend>
-
     <!-- rcl repo -->
   <depend>rcl_lifecycle</depend>
 

cross_compile/ros2/ros_rolling.repos

@@ -419,3 +419,15 @@ repositories:
     type: git
     url: https://github.com/ros2/console_bridge_vendor.git
     version: rolling
+  ros2/libyaml_vendor:
+    type: git
+    url: https://github.com/ros2/libyaml_vendor.git
+    version: rolling
+  ros2/spdlog_vendor:
+    type: git
+    url: https://github.com/ros2/spdlog_vendor.git
+    version: rolling
+  ros2/yaml_cpp_vendor:
+    type: git
+    url: https://github.com/ros2/yaml_cpp_vendor.git
+    version: rolling

cross_compile/vendor_packages/console_bridge_vendor/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(console_bridge_vendor)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+include(ExternalProject)
+ExternalProject_Add(
+  console_bridge_vendor
+  GIT_REPOSITORY https://github.com/ros/console_bridge.git
+  GIT_TAG 81ec67f6daf3cd19ef506e00f02efb1645597b9c
+
+  CMAKE_ARGS
+    -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+    -DCMAKE_POSITION_INDEPENDENT_CODE=ON
+    -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+    -DBUILD_TESTING=OFF
+)
+

cross_compile/vendor_packages/console_bridge_vendor/package.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>console_bridge_vendor</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ericzhao0325@163.com">ericx</maintainer>
+  <license>TODO: License declaration</license>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

cross_compile/vendor_packages/json_vendor/CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.8)
+project(json_vendor)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+include(FetchContent)
+FetchContent_Declare(
+  json_vendor
+  URL https://github.com/nlohmann/json/archive/refs/tags/v3.12.0.tar.gz
+)
+
+set(CMAKE_BUILD_TYPE Release)
+set(JSON_BuildTests OFF CACHE BOOL "JSON_BuildTests" FORCE)
+set(JSON_Install ON CACHE BOOL "JSON_Install" FORCE)
+
+FetchContent_MakeAvailable(json_vendor)
+

cross_compile/vendor_packages/json_vendor/package.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>json_vendor</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ericzhao0325@163.com">ericx</maintainer>
+  <license>TODO: License declaration</license>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

cross_compile/vendor_packages/spdlog_vendor/CMakeLists.txt

@@ -12,13 +12,15 @@ endif()
 include(FetchContent)
 FetchContent_Declare(
   spdlog_vendor
-  URL https://github.com/gabime/spdlog/archive/refs/tags/v1.17.0.tar.gz
+  URL https://github.com/gabime/spdlog/archive/refs/tags/v1.12.0.tar.gz
 )
 
 set(CMAKE_BUILD_TYPE Release)
+set(SPDLOG_BUILD_SHARED ON CACHE BOOL "SPDLOG_BUILD_SHARED" FORCE)
 set(SPDLOG_BUILD_TESTS OFF CACHE BOOL "SPDLOG_BUILD_TESTS" FORCE)
 set(SPDLOG_BUILD_EXAMPLE OFF CACHE BOOL "SPDLOG_BUILD_EXAMPLE" FORCE)
 set(SPDLOG_INSTALL ON CACHE BOOL "SPDLOG_INSTALL" FORCE)
+set(SPDLOG_BUILD_PIC ON CACHE BOOL "SPDLOG_BUILD_PIC" FORCE)
 
 FetchContent_MakeAvailable(spdlog_vendor)
 

cross_compile/vendor_packages/system_vendor_packages/package.xml

@@ -19,6 +19,9 @@
   <depend>pybind11_vendor</depend>
   <depend>spdlog_vendor</depend>
   <depend>asio_vendor</depend>
+  <depend>console_bridge_vendor</depend>
+  <depend>zlib_vendor</depend>
+  <depend>json_vendor</depend>
 
   <export>
     <build_type>cmake</build_type>

cross_compile/vendor_packages/zlib_vendor/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.8)
+project(zlib_vendor)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+include(FetchContent)
+FetchContent_Declare(
+  zlib_vendor
+  URL https://github.com/madler/zlib/archive/refs/tags/v1.3.1.tar.gz
+)
+
+set(CMAKE_BUILD_TYPE Release)
+set(ZLIB_BUILD_EXAMPLES OFF CACHE BOOL "ZLIB_BUILD_EXAMPLES" FORCE)
+
+FetchContent_MakeAvailable(zlib_vendor)
+

cross_compile/vendor_packages/zlib_vendor/package.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>zlib_vendor</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ericzhao0325@163.com">ericx</maintainer>
+  <license>TODO: License declaration</license>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>