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Xilinx / KRS

The Kria Robotics Stack (KRS) is a ROS 2 superset for industry, an integrated set of robot libraries and utilities to accelerate the development, maintenance and commercialization of industrial-grade robotic solutions while using adaptive computing.
https://Xilinx.github.io/KRS/
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#Hello_Xilinx example building failure on zcu102 firmware #47

Closed surender009 closed 2 years ago

surender009 commented 2 years ago

i followed below instructions from KRS beta and am seeing build errors for hello_xilinx example targeting zcu102

hello_xilinx on zcu102 emulation

--- stderr: publisher_xilinx CMake Error at /usr/share/cmake-3.16/Modules/CMakeTestCCompiler.cmake:60 (message): The C compiler

"/proj/xbuilds/SWIP/2021.2_1021_0703/installs/lin64/Vitis/2021.2/gnu/aarch64/lin/aarch64-linux/bin/aarch64-linux-gnu-gcc"

is not able to compile a simple test program.

It fails with the following output:

Change Dir: /scratch/krs_beta/build-zcu102/publisher_xilinx/CMakeFiles/CMakeTmp

Run Build Command(s):/usr/bin/make cmTC_3a2c1/fast && /usr/bin/make -f CMakeFiles/cmTC_3a2c1.dir/build.make CMakeFiles/cmTC_3a2c1.dir/build
make[1]: Entering directory '/scratch/krs_beta/build-zcu102/publisher_xilinx/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_3a2c1.dir/testCCompiler.c.o
/proj/xbuilds/SWIP/2021.2_1021_0703/installs/lin64/Vitis/2021.2/gnu/aarch64/lin/aarch64-linux/bin/aarch64-linux-gnu-gcc --sysroot=/scratch/krs_beta/install/../acceleration/firmware/zcu102/sysroots/aarch64-xilinx-linux    -o CMakeFiles/cmTC_3a2c1.dir/testCCompiler.c.o   -c /scratch/krs_beta/build-zcu102/publisher_xilinx/CMakeFiles/CMakeTmp/testCCompiler.c
Linking C executable cmTC_3a2c1
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_3a2c1.dir/link.txt --verbose=1
/proj/xbuilds/SWIP/2021.2_1021_0703/installs/lin64/Vitis/2021.2/gnu/aarch64/lin/aarch64-linux/bin/aarch64-linux-gnu-gcc --sysroot=/scratch/krs_beta/install/../acceleration/firmware/zcu102/sysroots/aarch64-xilinx-linux      CMakeFiles/cmTC_3a2c1.dir/testCCompiler.c.o  -o cmTC_3a2c1
/proj/xbuilds/SWIP/2021.2_1021_0703/installs/lin64/Vitis/2021.2/gnu/aarch64/lin/aarch64-linux/x86_64-petalinux-linux/usr/bin/aarch64-xilinx-linux/aarch64-xilinx-linux-ld.real: cannot find crtbeginS.o: No such file or directory
/proj/xbuilds/SWIP/2021.2_1021_0703/installs/lin64/Vitis/2021.2/gnu/aarch64/lin/aarch64-linux/x86_64-petalinux-linux/usr/bin/aarch64-xilinx-linux/aarch64-xilinx-linux-ld.real: cannot find -lgcc
collect2.real: error: ld returned 1 exit status
make[1]: *** [CMakeFiles/cmTC_3a2c1.dir/build.make:87: cmTC_3a2c1] Error 1
make[1]: Leaving directory '/scratch/krs_beta/build-zcu102/publisher_xilinx/CMakeFiles/CMakeTmp'
make: *** [Makefile:121: cmTC_3a2c1/fast] Error 2

CMake will not be able to correctly generate this project. Call Stack (most recent call first): CMakeLists.txt:2 (project)

Failed <<< publisher_xilinx [3.39s, exited with code 1]

Summary: 0 packages finished [3.71s] 1 package failed: publisher_xilinx 1 package had stderr output: publisher_xilinx

vmayoral commented 2 years ago

Refer to KRS Alpha for instructions that are known to work. There's no Beta support for ZCU102. If you compare https://github.com/ros-acceleration/acceleration_firmware_zcu102 with https://github.com/ros-acceleration/acceleration_firmware_kv260, you'll not this aspect and that there's no beta release for the ZCU102

As an additional bit, ZCU102 is not anymore a supported platform @surender009 for KRS AFAIK. This was decided early during development to reduce the targets so that I could advance faster in terms of depth (functionality) as opposed to spend time providing support to other hardware and BSPs.

surender009 commented 2 years ago

Thanks

vmayoral commented 2 years ago

Anytime @surender009!

vmayoral commented 2 years ago

Actually @surender009, I think there's merit in your ask in the sense that it wasn't as clear as it could be, so I've gone ahead and pushed https://github.com/ros-acceleration/acceleration_firmware_zcu102/commit/01e9215ade71a1a39f43aa9c26a63d2e3fcf2917. Now it's coherent with KV260's firmware as well.

I leave it to you to consider adding a note to the KRS Documentation pointing readers to alpha for the ZCU102.