set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR aarch64)

set(SYSROOT /opt/arm-gnu-toolchain-13.2.Rel1-x86_64-aarch64-none-linux-gnu)

set(CMAKE_SYSROOT 
    ${SYSROOT}/aarch64-none-linux-gnu/libc
)
    
set(CMAKE_C_COMPILER ${SYSROOT}/bin/aarch64-none-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER ${SYSROOT}/bin/aarch64-none-linux-gnu-g++)

list(APPEND CMAKE_FIND_ROOT_PATH 
    $ENV{TARGET_SYSROOT}
    $ENV{ROS_ROOT}
    ${CMAKE_INSTALL_PREFIX}
)

# Set compile flags which are overwritter by android.toolchain.cmake
# set(CMAKE_C_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable")
# set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable")

# add_link_options("LINKER:-rpath-link,$ENV{TARGET_SYSROOT}/lib")

set(Python3_EXECUTABLE /usr/bin/python3)
# set(Python3_NumPy_INCLUDE_DIR $ENV{TARGET_SYSROOT}/lib/python3.10/site-packages/numpy/core/include)

set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)