解决 ros catkin_make 时报错 Assertion failed: file ‘xxx/librt.so‘ does not exist. Message: RT Library

1. 发现问题

在 jetson orin nx 开发板上新装了系统测试，把其他 arm 系统中的 catkin_ws 整个拷贝过来了，但是在 catkin_make 时发生以下报错：

CMake Error at /opt/ros/noetic/share/catkin/cmake/assert.cmake:20 (message):
  

  Assertion failed: file '/usr/lib/aarch64-linux-gnu/librt.so' does not
  exist.  Message: RT Library

Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/tools/rt.cmake:44 (assert_file_exists)
  /opt/ros/noetic/share/catkin/cmake/all.cmake:164 (include)
  /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:20 (include)
  CMakeLists.txt:58 (find_package)

2. 解决问题

先在系统中查找一下 librt.so：

locate librt.so

找到一个 /usr/lib/aarch64-linux-gnu/librt.so.1。
那么将其软连接到正确位置：

sudo ln -s /usr/lib/aarch64-linux-gnu/librt.so.1 /usr/lib/aarch64-linux-gnu/librt.so

随后重新进行 catkin_make 操作，即可成功。