Failed to cross compile for kr260

[samcts2309]

I failed to build all ros2 packages which requires /usr/lib/aarch64-linux-gnu/libpython3.10.so during the cross compilation.

Code Execute:

###################################################
# 7.A cross-compile and generate ONLY CPU binaries
###################################################
colcon build --build-base=build-kr260-ubuntu --install-base=install-kr260-ubuntu --merge-install --mixin kr260 --cmake-args -DNOKERNELS=true

Error Msg:

--- stderr: adaptive_component
gmake[2]: *** No rule to make target '/usr/lib/aarch64-linux-gnu/libpython3.10.so', needed by 'libadaptive_component.so'.  Stop.
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/adaptive_component.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< adaptive_component [0.47s, exited with code 2]

[jasvinderkhurana]

@samcts2309,

Thanks a lot for trying this and pointing out. This seems to be a known issue, with Ubuntu rootfs as:

Ubuntu 22.04 sysroot is not fully prepared for cross-compilation (but for native builds instead) and thereby, while invoking FindPython, it's just picking the host resources, instead of the target/sysroot ones, which leads to ROS 2 packages relying on Python 3 getting a dependency against the host (which doesn't exist), instead of against the sysroot. A workaround for this is symlinking the Python3 library of the host to the sysroot one, so that it gets picked while cross-compiling against the Ubuntu 22.04 sysroot. The following should do: sudo ln -s ~/krs_ws/install/../acceleration/firmware/kr260/sysroots/aarch64-xilinx-linux/usr/lib/aarch64-linux-gnu/libpython3.10.so.1.0 /usr/lib/aarch64-linux-gnu/libpython3.10.so

Unknowingly this workaround got deleted from the documentation in last update. Thanks again for pointing out, I will update the documentation with above workaround. Also please let me know if this resolves your problem

[jasvinderkhurana]

Closing it with pull request #92