"ELF: not found error" running "micro_ros_setup build_firmware.sh" for nucleo_f767zi on Raspberry Pi

danielallstar commented 1 year ago

Issue template

Hardware description: Raspberry Pi 4B 4gb (with BCM2711 soc) running Ubuntu server 22.04 (LTS) 64-bit
RTOS: Free RTOS
Installation type: ping pong example on nucleo_f767zi on ROS2 Humble latest release
Version or commit hash: (default) humble

Steps to reproduce the issue

I followed the tutorial steps specified on the following page [https://micro.ros.org/docs/tutorials/core/first_application_rtos/freertos/]

I adjusted the line "ros2 run micro_ros_setup create_firmware_ws.sh freertos olimex-stm32-e407" into "ros2 run micro_ros_setup create_firmware_ws.sh freertos nucleo_f767zi"

After that I entered the command "ros2 run micro_ros_setup configure_firmware.sh ping_pong --transport serial" according to the tutorial.

Errors occur at the buildstep "ros2 run micro_ros_setup build_firmware.sh"

Expected behavior

I expected that the build would happen without any problems. I followed the exact same steps within a docker container on my PC with an amd chipset without any problems. At the moment I try it on the arm infrastructure it does not work. I tried it in a docker image and with a local installation of ROS2.

Actual behavior

The following output is created showing an "ELF: not found" error:

root@daniel:/home/daniel/microros_ws# ros2 run micro_ros_setup build_firmware.sh
Crosscompiled environment: cleaning path
Building firmware for freertos platform nucleo_f767zi
Selected app: ping_pong
rm -fR /home/daniel/microros_ws/firmware/freertos_apps/microros_nucleo_f767zi_extensions/build
rm -f /home/daniel/microros_ws/firmware/freertos_apps/microros_nucleo_f767zi_extensions/arm_toolchain.cmake; \
cat /home/daniel/microros_ws/firmware/freertos_apps/microros_nucleo_f767zi_extensions/arm_toolchain.cmake.in | \
    sed "s/@CROSS_COMPILE@/\/home\/daniel\/microros_ws\/firmware\/freertos_apps\/microros_nucleo_f767zi_extensions\/..\/..\/toolchain\/bin\/arm-none-eabi-/g" | \
    sed "s/@FREERTOS_TOPDIR@/\/home\/daniel\/microros_ws\/firmware\/freertos_apps\/microros_nucleo_f767zi_extensions\/..\/../g" | \
    sed "s/@ARCH_CPU_FLAGS@/\"-mcpu=cortex-m7 -mthumb -mfpu=fpv5-sp-d16 -mfloat-abi=hard -DUSE_HAL_DRIVER -DSTM32F767xx -Og -Wall -fdata-sections -ffunction-sections\"/g" | \
    sed "s/@ARCH_OPT_FLAGS@/\"\"/g" \
    > /home/daniel/microros_ws/firmware/freertos_apps/microros_nucleo_f767zi_extensions/arm_toolchain.cmake
cd /home/daniel/microros_ws/firmware/freertos_apps/microros_nucleo_f767zi_extensions/../../mcu_ws; \
colcon build \
    --packages-ignore-regex=.*_cpp \
    --metas /home/daniel/microros_ws/firmware/freertos_apps/microros_nucleo_f767zi_extensions/../../mcu_ws/colcon.meta /home/daniel/microros_ws/firmware/freertos_apps/apps/ping_pong/app-colcon.meta \
    --cmake-args \
    "--no-warn-unused-cli" \
    -DCMAKE_POSITION_INDEPENDENT_CODE=OFF \
    -DTHIRDPARTY=ON \
    -DBUILD_SHARED_LIBS=OFF \
    -DBUILD_TESTING=OFF \
    -DCMAKE_BUILD_TYPE= \
    -DCMAKE_TOOLCHAIN_FILE=/home/daniel/microros_ws/firmware/freertos_apps/microros_nucleo_f767zi_extensions/arm_toolchain.cmake \
    -DCMAKE_VERBOSE_MAKEFILE=ON; \

Starting >>> rcutils 
Starting >>> rosidl_cli                
Starting >>> rosidl_typesupport_interface                              
Starting >>> microcdr                                                                                        
--- stderr: rcutils                                                              
CMake Error at /usr/share/cmake-3.22/Modules/CMakeTestCCompiler.cmake:69 (message):
  The C compiler

    "/home/daniel/microros_ws/firmware/freertos_apps/microros_nucleo_f767zi_extensions/../../toolchain/bin/arm-none-eabi-gcc"

  is not able to compile a simple test program.

  It fails with the following output:

    Change Dir: /home/daniel/microros_ws/firmware/mcu_ws/build/rcutils/CMakeFiles/CMakeTmp

    Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_947dd/fast && gmake[1]: Entering directory '/home/daniel/microros_ws/firmware/mcu_ws/build/rcutils/CMakeFiles/CMakeTmp'
    /usr/bin/gmake  -f CMakeFiles/cmTC_947dd.dir/build.make CMakeFiles/cmTC_947dd.dir/build
    gmake[2]: Entering directory '/home/daniel/microros_ws/firmware/mcu_ws/build/rcutils/CMakeFiles/CMakeTmp'
    Building C object CMakeFiles/cmTC_947dd.dir/testCCompiler.c.obj
    /home/daniel/microros_ws/firmware/freertos_apps/microros_nucleo_f767zi_extensions/../../toolchain/bin/arm-none-eabi-gcc   -std=c11 -mcpu=cortex-m7 -mthumb -mfpu=fpv5-sp-d16 -mfloat-abi=hard -DUSE_HAL_DRIVER -DSTM32F767xx -Og -Wall -fdata-sections -ffunction-sections  -DCLOCK_MONOTONIC=0  -o CMakeFiles/cmTC_947dd.dir/testCCompiler.c.obj -c /home/daniel/microros_ws/firmware/mcu_ws/build/rcutils/CMakeFiles/CMakeTmp/testCCompiler.c
    /home/daniel/microros_ws/firmware/freertos_apps/microros_nucleo_f767zi_extensions/../../toolchain/bin/arm-none-eabi-gcc: 1: ELF: not found
    /home/daniel/microros_ws/firmware/freertos_apps/microros_nucleo_f767zi_extensions/../../toolchain/bin/arm-none-eabi-gcc: 4: Syntax error: "(" unexpected
    gmake[2]: *** [CMakeFiles/cmTC_947dd.dir/build.make:78: CMakeFiles/cmTC_947dd.dir/testCCompiler.c.obj] Error 2
    gmake[2]: Leaving directory '/home/daniel/microros_ws/firmware/mcu_ws/build/rcutils/CMakeFiles/CMakeTmp'
    gmake[1]: *** [Makefile:127: cmTC_947dd/fast] Error 2
    gmake[1]: Leaving directory '/home/daniel/microros_ws/firmware/mcu_ws/build/rcutils/CMakeFiles/CMakeTmp'

  CMake will not be able to correctly generate this project.
Call Stack (most recent call first):
  CMakeLists.txt:3 (project)

---
Failed   <<< rcutils [2.99s, exited with code 1]
Aborted  <<< microcdr [2.80s]                                                                                    
Aborted  <<< rosidl_cli [4.06s]                                                                              
Aborted  <<< rosidl_typesupport_interface [4.95s]                            

Summary: 0 packages finished [7.39s]
  1 package failed: rcutils
  3 packages aborted: microcdr rosidl_cli rosidl_typesupport_interface
  2 packages had stderr output: microcdr rcutils
  63 packages not processed
make: *** [Makefile:315: colcon_compile] Error 1
[ros2run]: Process exited with failure 2

Additional information

Any help will be greatly appreciated. Feel free to ask for additional information!

pablogs9 commented 1 year ago

The recommended way of integrating micro-ROS into STM32 devices is https://github.com/micro-ROS/micro_ros_stm32cubemx_utils.

We will take a look at this issue.

liamhan0905 commented 1 year ago

Did you not have any issues running ros2 run micro_ros_setup create_firmware_ws.sh freertos <platform> command on your raspberry pi 4?

danielallstar commented 1 year ago

Did you not have any issues running ros2 run micro_ros_setup create_firmware_ws.sh freertos <platform> command on your raspberry pi 4?

No, I did not have any issues running that command. Looking at your previous post it looks like you are using an ESP32, so a different target board as the one I am using.

The error message "ERROR: tool xtensa-esp32-elf does not have versions compatible with platform linux-arm64" seems to indicate no support for linux-arm64 for ESP32.

micro-ROS / micro_ros_setup