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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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Cross compilation on Ubuntu 22.04 fails with not finding rmw_cyclonedds_cpp #97

Closed samlei-research closed 11 months ago

samlei-research commented 12 months ago

Followed steps

I followed these instructions, previously the instructions for KRS installation: https://xilinx.github.io/KRS/sphinx/build/html/docs/install.html

The native installed ros instance and the local krs_ws are sourced.

It fails when executing: colcon build --build-base=build-kr260-ubuntu --install-base=install-kr260-ubuntu --merge-install --mixin kr260 --cmake-args -DNOKERNELS=true

Error

Could not find a package configuration file provided by "rmw_cyclonedds_cpp" with any of the following names:

rmw_cyclonedds_cppConfig.cmake
rmw_cyclonedds_cpp-config.cmake

Add the installation prefix of "rmw_cyclonedds_cpp" to CMAKE_PREFIX_PATH or set "rmw_cyclonedds_cpp_DIR" to a directory containing one of the above files. If "rmw_cyclonedds_cpp" provides a separate development package or SDK, be sure it has been installed.

It does not find rmw_cyclonedds_cpp and its configuration even its installed.

jasvinderkhurana commented 11 months ago

@samlei-research ,

Thanks for reporting!

Can you please check if you have exported RMW_IMPLEMENTATION on your x86 machine. If yes, please use a different terminal and ensure that the RMW_IMPLEMENTATION is not set while cross compiling. Also, please delete your build and install folders before rebuilding it.

Let me know if that works..

samlei-research commented 11 months ago

@jasvinderkhurana

It got a step further with your tip (maybe this should be mentioned in the documentation). But when trying to cross-compile the vadd_publisher with the following command:

colcon build --build-base=build-kr260 --install-base=install-kr260 --merge-install --mixin kr260 --packages-select ament_acceleration ament_vitis vadd_publisher

ament_vitis does not find ament_accelerationConfig.cmake even its built and located in the install folder.

I am using the ros2 humble distro.

samlei-research commented 11 months ago

@jasvinderkhurana

Finally got it working. Issue can be closed.

It was just a problem with the underlying ROS workspace.