【ROS交叉编译】——protobuf/yaml-cpp/opencv

ros, pcl, 交叉编译, protobuf, yaml, opencv

1. VTK路径
   set(VTK_DIR “/home/darknet/CM/28_ros/nx_cross_compile/usr/lib/cmake/vtk-6.3” CACHE PATH “The directory containing VTKConfig.cmake”)

2. stdlib.h

aarch64-linux-gnu/libc/usr/include/stdlib.h:57:1: 错误： ‘__BEGIN_NAMESPACE_STD’ does not name a type; did you mean ‘__BEGIN_DECLS’?
 __BEGIN_NAMESPACE_STD
 ^~~~~~~~~~~~~~~~~~~~~
 __BEGIN_DECLS
/home/darknet/CM/profile/gcc-linaro-7.4.1-2019.02-x86_64_aarch64-linux-gnu/aarch64-linux-gnu/libc/usr/include/stdlib.h:63:5: 错误： ‘div_t’ does not name a type; did you mean ‘__id_t’?
   } div_t;

解决方案
将host的gcc升级到了8.2，下载地址:https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads
或者使用清华源:https://mirrors.tuna.tsinghua.edu.cn/armbian-releases/_toolchain/

3. catkin build protobuf_catkin -DCMAKE_TOOLCHAIN_FILE=/opt/ros/melodic/share/ros/core/rosbuild/rostoolchain.cmake
   报错：

Errors     << protobuf_catkin:make /home/darknet/CM/28_ros/maplab_enhanced/logs/protobuf_catkin/build.make.005.log                                                               
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /home/darknet/CM/28_ros/maplab_enhanced/devel/lib/libprotobuf-lite.so when searching for -lprotobuf-lite
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /home/darknet/CM/28_ros/maplab_enhanced/devel/lib/libprotobuf-lite.a when searching for -lprotobuf-lite
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: cannot find -lprotobuf-lite
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /home/darknet/CM/28_ros/maplab_enhanced/devel/lib/libprotoc.so when searching for -lprotoc
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /home/darknet/CM/28_ros/maplab_enhanced/devel/lib/libprotoc.a when searching for -lprotoc
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: cannot find -lprotoc
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /home/darknet/CM/28_ros/maplab_enhanced/devel/lib/libprotobuf.so when searching for -lprotobuf
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /home/darknet/CM/28_ros/maplab_enhanced/devel/lib/libprotobuf.a when searching for -lprotobuf
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: cannot find -lprotobuf
collect2: 错误： ld 返回 1
make[2]: *** [/home/darknet/CM/28_ros/maplab_enhanced/devel/lib/libprotobuf_catkin.so] Error 1
make[1]: *** [CMakeFiles/protobuf_catkin.dir/all] Error 2
make: *** [all] Error 2
cd /home/darknet/CM/28_ros/maplab_enhanced/build/protobuf_catkin; catkin build --get-env protobuf_catkin | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
.................................................................................................................................................................................
Failed     << protobuf_catkin:make           [ Exited with code 2 ]                                                                                                              
Failed    <<< protobuf_catkin                [ 0.1 seconds ] 

Errors     << protobuf_catkin:make /home/darknet/CM/28_ros/maplab_enhanced/logs/protobuf_catkin/build.make.002.log                                                               
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: /home/darknet/CM/28_ros/maplab_enhanced/devel/lib/libprotobuf-lite.so: error adding symbols: file in wrong format

原因：需要先编译protobuf（这里应该编译成了host机器的，所以后面再链接的时候格式不对），再编译protobuf_catkin，需要交叉编译protobuf，可参考:https://blog.csdn.net/comtedelafere/article/details/16847831

我这里修改的cmakelists.txt为:

ExternalProject_Add(protobuf_src
  URL file:///${PROJECT_SOURCE_DIR}/src/protobuf-2.6.1.tar.gz
  UPDATE_COMMAND ""
  PATCH_COMMAND patch -p0 < ${PROJECT_SOURCE_DIR}/unused_parameter_warnings.patch &&
                patch -p0 < ${PROJECT_SOURCE_DIR}/unused_parameter_warnings_wire_format.patch
  CONFIGURE_COMMAND cd ../protobuf_src && ./autogen.sh && ./configure --with-pic --prefix=${CATKIN_DEVEL_PREFIX} --host=arm-linux CC=/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/aarch64-linux-gnu-gcc CXX=/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/aarch64-linux-gnu-g++ --with-protoc=/usr/local/bin/protoc
  BUILD_COMMAND cd ../protobuf_src && make -j8
  INSTALL_COMMAND cd ../protobuf_src && make install -j8
)

交叉编译耗时：
catkin_make --only-pkg-with-deps protobuf_catkin 168.69s user 11.29s system 422% cpu 42.635 total

4. 交叉编译yaml_cpp_catkin
   在编译yaml_cpp的时候指定c，c++编译器
   -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}

[ 93%] Linking CXX executable parse
[ 93%] Built target parse
[ 95%] Linking CXX executable read
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: cannot find -lyaml-cpp
collect2: 错误： ld 返回 1
util/CMakeFiles/read.dir/build.make:83: recipe for target 'util/read' failed
make[2]: *** [util/read] Error 1
CMakeFiles/Makefile2:438: recipe for target 'util/CMakeFiles/read.dir/all' failed
make[1]: *** [util/CMakeFiles/read.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2

原因: 在用ExternalProject_Add(yaml_cpp_src编译的时候，yaml_cpp_src在编译util子文件夹的时候，动态库的名字写错了。

解决：

# 原始
add_sources(read.cpp)
add_executable(read read.cpp)
target_link_libraries(read yaml-cpp)					# 就是这行
set_target_properties(read PROPERTIES COMPILE_FLAGS "-std=c++11")

# 改为
add_sources(read.cpp)
add_executable(read read.cpp)
target_link_libraries(read yaml-cpp0.5)
set_target_properties(read PROPERTIES COMPILE_FLAGS "-std=c++11")

5. 交叉编译opencv
   报错：

[ 45%] Linking CXX shared library ../../lib/libopencv_core.so
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: /usr/local/lib/libz.so: error adding symbols: file in wrong format
collect2: 错误： ld 返回 1
modules/core/CMakeFiles/opencv_core.dir/build.make:863: recipe for target 'lib/libopencv_core.so.3.2.0' failed
make[2]: *** [lib/libopencv_core.so.3.2.0] Error 1
CMakeFiles/Makefile2:1775: recipe for target 'modules/core/CMakeFiles/opencv_core.dir/all' failed
make[1]: *** [modules/core/CMakeFiles/opencv_core.dir/all] Error 2
Makefile:162: recipe for target 'all' failed
make: *** [all] Error 2

原因： 应该是交叉编译opencv的时候依赖了x86的zlib动态库

报错:
libippicv.a: error adding symbols: file in wrong format

解决： 参考：https://zhuanlan.zhihu.com/p/381760569，参考以上博客，用其他的命令交叉编译opencv

6. 交叉编译cv_bridge
   报错：
   错误： 不能将变量‘g_numpyAllocator’声明为具有抽象类型‘NumpyAllocator’

解决
cv_bridge中用了opencv，上面的错误是找了opencv4，所以重新找opencv3，再注释掉其中关于cuda部分的动态库

# if(NOT CUDA_FOUND)
#   find_host_package(CUDA ${OpenCV_CUDA_VERSION} EXACT REQUIRED)
# else()
#   if(NOT CUDA_VERSION_STRING VERSION_EQUAL OpenCV_CUDA_VERSION)
#     message(FATAL_ERROR "OpenCV static library was compiled with CUDA ${OpenCV_CUDA_VERSION} support. Please, use the same version or rebuild OpenCV with CUDA ${CUDA_VERSION_STRING}")
#   endif()
# endif()

# set(OpenCV_CUDA_LIBS_ABSPATH ${CUDA_LIBRARIES})

# if(${CUDA_VERSION} VERSION_LESS "5.5")
#   list(APPEND OpenCV_CUDA_LIBS_ABSPATH ${CUDA_npp_LIBRARY})
# else()
#   find_cuda_helper_libs(nppc)
#   find_cuda_helper_libs(nppi)
#   find_cuda_helper_libs(npps)
#   list(APPEND OpenCV_CUDA_LIBS_ABSPATH ${CUDA_nppc_LIBRARY} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY})
# endif()

7. 报错/lib/ld-linux-aarch64.so.1: No such file or directory
   建立一个新的软连接就ok了。
   sudo ln -s /lib/aarch64-linux-gnu/ld-linux-aarch64.so.1 /lib/ld-linux-aarch64.so.1

8. 报错/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/…/lib/gcc/aarch64-linux-gnu/8.3.0/…/…/…/…/aarch64-linux-gnu/bin/ld: cannot find -lreadline
   collect2: 错误： ld 返回 1
   在/usr/lib/aarch64-linux-gnu/libreadline.so，在报错的地方用link_directories添加一下这个路径。

9. static assertion failed: std::map must have the same value_type as its allocator required from ‘class common::TemporalBufferbackend::ResourceId’
   **原因：**应该不同版本的编译器导致的。
   解决： 参考:https://github.com/tum-vision/LDSO/issues/4

https://github.com/tum-vision/LDSO/commit/38a5cab9b41948c5de42a672d9b33d9019a9c053在对应的报错位置的 std:pair, 前面的一个参数加上const。例如：
std::allocator<std::pair<const int64_t, ValueType> >

10. -lpthread
    报错：

/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /usr/lib/x86_64-linux-gnu/libpthread.so when searching for -lpthread
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /usr/lib/x86_64-linux-gnu/libpthread.a when searching for -lpthread
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /usr/lib/x86_64-linux-gnu/libpthread.so when searching for -lpthread
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /usr/lib/x86_64-linux-gnu/libpthread.a when searching for -lpthread
/home/darknet/CM/profile/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/8.3.0/../../../../aarch64-linux-gnu/bin/ld: /usr/lib/x86_64-linux-gnu/libfreetype.so: error adding symbols: file in wrong format
collect2: 错误： ld 返回 1

解决： 通过link_directories()添加动态库的路径。

2. 技巧

1. 只编译一个项目

catkin build protobuf_catkin
catkin_make --only-pkg-with-deps protobuf_catkin

2. 用ExternalProject_Add编译的项目，可以用cmake的方式单独编译能更精确的定位到问题的位置，cmake编译的流程

mkdir build && cd build
cmake ..
make -j4