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ApexAI / performance_test

**This project is deprecated** Go to https://gitlab.com/ApexAI/performance_test
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Cross-compile performance test for aarch64 #78

Closed naakkapeddi closed 5 years ago

naakkapeddi commented 5 years ago

This is as far as I've gotten with cross-compiling performance_test.

1) Generate SYSROOT based on ROS instructions (https://github.com/ros2/ros2_documentation/blob/master/source/Tutorials/Cross-compilation.rst#cross-compiling-ros2) 2) Set SYSROOT variable to generated sysroot 3) Set TOOLCHAIN_FILE for aarch64 compiler, linker, etc

(i.e.)

set(CMAKE_C_COMPILER /usr/bin/aarch64-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER /usr/bin/aarch64-linux-gnu-g++)

4) mkdir perf_test_ws 5) cd perf_test_ws 6) Clone performance test and osrf_testing_tools 7) colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE="${TOOLCHAIN_FILE}"

The sysroot I am using is Ubuntu Bionic w/ libboost-all-dev package installed.

This is the error message I am recieving

Starting >>> osrf_testing_tools_cpp
-- Setting C Standard to 11.
-- Setting C++ Standard to 14.
-- Setting SECURITY to ON.
-- The C compiler identification is GNU 5.4.0              
-- The CXX compiler identification is GNU 5.4.0            
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done                    
-- Detecting C compile features
-- Detecting C compile features - done                     
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done                  
-- Detecting CXX compile features                          
-- Detecting CXX compile features - done                   
-- googletest version '1.8.0' selected, of versions: '1.8.0'
-- building googletest from '/home/naveen.akkapeddi/grand_central/perf_test_ws/src/osrf_testing_tools_cpp/osrf_testing_tools_cpp/vendor/google/googletest/release-1.8.0.tar.gz'...
-- Configuring done
-- Generating done
-- Build files have been written to: /home/naveen.akkapeddi/grand_central/perf_test_ws/build/osrf_testing_tools_cpp/googletest-1.8.0-extracted
Scanning dependencies of target googletest                 
[ 11%] Creating directories for 'googletest'
[ 22%] Performing download step (verify and extract) for 'googletest'
-- verifying file...
     file='/home/naveen.akkapeddi/grand_central/perf_test_ws/src/osrf_testing_tools_cpp/osrf_testing_tools_cpp/vendor/google/googletest/release-1.8.0.tar.gz'
-- verifying file... done
-- extracting...
     src='/home/naveen.akkapeddi/grand_central/perf_test_ws/src/osrf_testing_tools_cpp/osrf_testing_tools_cpp/vendor/google/googletest/release-1.8.0.tar.gz'
     dst='/home/naveen.akkapeddi/grand_central/perf_test_ws/build/osrf_testing_tools_cpp/googletest-1.8.0-extracted/googletest-1.8.0-src'
-- extracting... [tar xfz]
-- extracting... [analysis]                                    
-- extracting... [rename]
-- extracting... [clean up]
-- extracting... done
[ 33%] No patch step for 'googletest'
[ 44%] No update step for 'googletest'
[ 55%] No configure step for 'googletest'                      
[ 66%] No build step for 'googletest'
[ 77%] No install step for 'googletest'
[ 88%] No test step for 'googletest'                           
[100%] Completed 'googletest'
[100%] Built target googletest
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Looking for pthread.h
-- Looking for pthread.h - found                                
-- Looking for pthread_create
-- Looking for pthread_create - not found                       
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found           
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found                
-- Found Threads: TRUE  
-- Configuring done
-- Generating done                                              
-- Build files have been written to: /home/naveen.akkapeddi/grand_central/perf_test_ws/build/osrf_testing_tools_cpp
Scanning dependencies of target gtest                      
Scanning dependencies of target test_runner
Scanning dependencies of target memory_tools
[  4%] Building CXX object src/test_runner/CMakeFiles/test_runner.dir/main.cpp.o
[  8%] Building CXX object googletest-1.8.0-extracted/googletest-1.8.0-build/googlemock/gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o
[ 12%] Building CXX object src/memory_tools/CMakeFiles/memory_tools.dir/implementation_monitoring_override.cpp.o
[ 16%] Building CXX object src/memory_tools/CMakeFiles/memory_tools.dir/memory_tools_service.cpp.o
[ 20%] Building CXX object src/memory_tools/CMakeFiles/memory_tools.dir/is_working.cpp.o
[ 24%] Building CXX object src/memory_tools/CMakeFiles/memory_tools.dir/testing_helpers.cpp.o
[ 28%] Building CXX object src/memory_tools/CMakeFiles/memory_tools.dir/custom_memory_functions.cpp.o
[ 32%] Building CXX object src/memory_tools/CMakeFiles/memory_tools.dir/monitoring.cpp.o
[ 36%] Building CXX object src/memory_tools/CMakeFiles/memory_tools.dir/initialize.cpp.o
[ 40%] Building CXX object src/memory_tools/CMakeFiles/memory_tools.dir/stack_trace.cpp.o
[ 44%] Building CXX object src/memory_tools/CMakeFiles/memory_tools.dir/verbosity.cpp.o
[ 48%] Building CXX object src/memory_tools/CMakeFiles/memory_tools.dir/register_hooks.cpp.o
[ 52%] Linking CXX executable test_runner                      
[ 52%] Built target test_runner                                
[ 56%] Linking CXX shared library libmemory_tools.so           
[ 56%] Built target memory_tools                               
Scanning dependencies of target memory_tools_interpose
[ 60%] Building CXX object src/memory_tools/CMakeFiles/memory_tools_interpose.dir/memory_tools.cpp.o
[ 64%] Linking CXX shared library libmemory_tools_interpose.so 
[ 64%] Built target memory_tools_interpose
[ 68%] Linking CXX static library libgtest.a                   
[ 68%] Built target gtest
Scanning dependencies of target gtest_main                     
[ 72%] Building CXX object googletest-1.8.0-extracted/googletest-1.8.0-build/googlemock/gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o
[ 76%] Linking CXX static library libgtest_main.a              
[ 76%] Built target gtest_main
Scanning dependencies of target test_memory_tools
Scanning dependencies of target assert_env_vars
Scanning dependencies of target test_parse_environment_variable
[ 80%] Building CXX object test/memory_tools/CMakeFiles/test_memory_tools.dir/test_memory_tools.cpp.o
[ 84%] Building CXX object test/test_runner/CMakeFiles/test_parse_environment_variable.dir/test_parse_environment_variable.cpp.o
[ 88%] Building CXX object test/test_runner/CMakeFiles/assert_env_vars.dir/assert_env_vars.cpp.o
[ 92%] Linking CXX executable test_parse_environment_variable    
[ 92%] Built target test_parse_environment_variable              
[ 96%] Linking CXX executable assert_env_vars                    
[ 96%] Built target assert_env_vars
[100%] Linking CXX executable test_memory_tools                  
/home/naveen.akkapeddi/grand_central/sysroot_arm64v8_ubuntu_bionic_libssl_boost/usr/lib/aarch64-linux-gnu/libdl.so: undefined reference to `_dl_catch_error@GLIBC_PRIVATE'
/home/naveen.akkapeddi/grand_central/sysroot_arm64v8_ubuntu_bionic_libssl_boost/usr/lib/aarch64-linux-gnu/libdl.so: undefined reference to `_dl_signal_error@GLIBC_PRIVATE'
collect2: error: ld returned 1 exit status
make[2]: *** [test/memory_tools/test_memory_tools] Error 1
test/memory_tools/CMakeFiles/test_memory_tools.dir/build.make:98: recipe for target 'test/memory_tools/test_memory_tools' failed
CMakeFiles/Makefile2:1383: recipe for target 'test/memory_tools/CMakeFiles/test_memory_tools.dir/all' failed
make[1]: *** [test/memory_tools/CMakeFiles/test_memory_tools.dir/all] Error 2
make: *** [all] Error 2
Makefile:138: recipe for target 'all' failed
--- stderr: osrf_testing_tools_cpp
/home/naveen.akkapeddi/grand_central/sysroot_arm64v8_ubuntu_bionic_libssl_boost/usr/lib/aarch64-linux-gnu/libdl.so: undefined reference to `_dl_catch_error@GLIBC_PRIVATE'
/home/naveen.akkapeddi/grand_central/sysroot_arm64v8_ubuntu_bionic_libssl_boost/usr/lib/aarch64-linux-gnu/libdl.so: undefined reference to `_dl_signal_error@GLIBC_PRIVATE'
collect2: error: ld returned 1 exit status
make[2]: *** [test/memory_tools/test_memory_tools] Error 1
make[1]: *** [test/memory_tools/CMakeFiles/test_memory_tools.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< osrf_testing_tools_cpp [ Exited with code 2 ]

Summary: 0 packages finished [11.9s]
  1 package failed: osrf_testing_tools_cpp
  1 package had stderr output: osrf_testing_tools_cpp
  2 packages not processed

@esteve

esteve commented 5 years ago

@naakkapeddi I believe it's not necessary to build osrf_testing_tools_cpp from source. I'm using a similar approach as we did in Autoware.AI:

You can have a look at the current status in https://github.com/ApexAI/performance_test/pull/80

esteve commented 5 years ago

@naakkapeddi I managed to crosscompile performance_test for aarch64 locally, I'm working on getting it in the CI. We'll have to eventually change that once performance_test is migrated to Gitlab, but for now it's fine.

esteve commented 5 years ago

@naakkapeddi it's now passing in the CI