robot_pose_ekf orocos-bfl buildroot

buildroot编译robot_pose_ekf报错查找不到orocos-bfl

在用rk3399编译ros代码过程中，发现编译robot_pose_ekf时候CMakeLists.txt报出

Perhaps you should add the directory containing `orocos-bfl.pc’
to the PKG_CONFIG_PATH environment variable
Package ‘orocos-bfl’, required by ‘world’, not found
CMake Error at /usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:419 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:597 (_pkg_check_modules_internal)
CMakeLists.txt:7 (pkg_check_modules)
– Configuring incomplete, errors occurred!

这个问题是查找orocos-bfl的pkgconfig没法找到，所以链接不到这个模块lib和include。这个问题是瑞芯微没有编译orocos-bfl这个包导致的。
先去

https://github.com/ros-gbp/bfl-release

下载orocos-bfl，然后把版本切到

release/kinetic/bfl/0.7.0-2

将文件拷贝ros包目录下（根据自己的目录修改吧）

/root/rk3399-linux-sdk/buildroot/package/rockchip/ros/bfl

添加三个文件
bfl.mk

BFL_VERSION = 1.0.0
BFL_SITE_METHOD = local
BFL_SITE = $(TOPDIR)/package/rockchip/ros/bfl
BFL_DEPENDENCIES = roscpp
$(eval $(cmake-package))
$(eval $(host-cmake-package))

Config.in

config BR2_PACKAGE_BFL
bool “bfl”
depends on BR2_PACKAGE_EIGEN
help
bfl

Config.in.host

config BR2_PACKAGE_HOST_BFL
bool “host bfl”
help
host bfl

弄好这几个文件后，需要运行一次configure ，这个文件生成配置的。具体我也不太懂，想深入学习的同学自己去了解哈。
下面编译器参数需要根据自己的情况去修改

./configure --prefix=/root/rk3399-linux-sdk/buildroot/output/rockchip_rk3399/build/bfl-1.0.0 CC=/root/rk3399-linux-sdk/buildroot/output/rockchip_rk3399/host/bin/aarch64-buildroot-linux-gnu-gcc CXX=/root/rk3399-linux-sdk/buildroot/output/rockchip_rk3399/host/bin/aarch64-buildroot-linux-gnu-g++

配置生成后运行

make host-bfl-dirclean && make host-bfl-rebuild

就生成了 /root/rk3399-linux-sdk/buildroot/output/rockchip_rk3399/host/lib/pkgconfig/orocos-bfl.pc

这时候就可以去编译robot_pose_ekf了