Integrate cross compilation in docker image

hyperspec-ai / orion-ros2-reference

Project Orion is an open source initiative to democratize the development of intelligent data collection systems for autonomous vehicle software, infrastructure and data pipelines for creating high quality certified data sets for researchers. The project is driven by a committee established by industrial partners.

MIT License

3 stars 2 forks source link

Integrate cross compilation in docker image #6

Open marcusvw opened 4 years ago

marcusvw commented 4 years ago

Integrate ROS2 cross compile environment for Xavier

marcusvw commented 4 years ago

[x] - One build run must create arm+x86 binaries
[x] - Package all nodes in install//nodeName.tar.gz arch = armv8 or x86_64
[x] - All msg libs must be handled the same
[x] - Sysroot based on a clean Xavier installation, install of packages should be scripted and the script available through reference repository
[x] - Sys root must be supplied to Jenkins as tar.gz
[x] Setup Docker Debuging and build plug and play
[ ] Setup Xavier Debuging and build plug and play
[ ] Write script for jenkins build, with install/x86_64/nodeName.tar.gz and install/armv8/nodeName.tar.gz as deployment pathes

sputtagunta commented 4 years ago

The install folder structure should be as follows:

install/x86_64/nodeName.tar.gz install/armv8/nodeName.tar.gz

Let's use a single build command to build both architectures.

@marcusvw @darthcoder1

sputtagunta commented 4 years ago

How will the sysroot be deployed into the Xaviers?

marcusvw commented 4 years ago

@sputtagunta Initially via copying a image to the Xavier, the runtime image can be updated via Mender, so all Nodes except ConfigNode is done via ConfigNode, so as long as ConfigNode is not changed there is no need to update it (except Linux/driver etc, updates, that will be done also via Mender). The sysroot and the image will be slightly differ as the sysroot is stripped down to save space and is alslo independent of device tree etc..