DRIVE PX2 ROS CROSS COMPILATION (Dec 05)

FindROS.cmake

set(CMAKE_SYSTEM_NAME Linux)

# Specify the cross compiler
set(TOOLCHAIN "$ENV{HOME}/gcc-linaro-5.4.1-2017.05-x86_64_aarch64-linux-gnu")
set(CMAKE_CXX_COMPILER "${TOOLCHAIN}/bin/aarch64-linux-gnu-g++")
set(CMAKE_C_COMPILER "${TOOLCHAIN}/bin/aarch64-linux-gnu-gcc")

# Targetfs path
set(ROS_SYSROOT "$ENV{HOME}/nvidia/nvidia_sdk/DRIVE/Linux/5.0.10.3/OS/DriveSDK/drive-t186ref-linux/targetfs")

set(LD_PATH "${ROS_SYSROOT}/usr/lib/aarch64-linux-gnu")
set(LD_PATH_EXTRA_1 "${ROS_SYSROOT}/lib/aarch64-linux-gnu")

set(ROSCONSOLE_BACKEND "print")

# setup compiler for cross-compilation
set(CMAKE_CXX_FLAGS           "-fPIC"               CACHE STRING "c++ flags")
set(CMAKE_C_FLAGS             "-fPIC"               CACHE STRING "c flags")
set(CMAKE_SHARED_LINKER_FLAGS ""                    CACHE STRING "shared linker flags")
set(CMAKE_MODULE_LINKER_FLAGS ""                    CACHE STRING "module linker flags")
set(CMAKE_EXE_LINKER_FLAGS    ""                    CACHE STRING "executable linker flags")


# Where is the target environment
set(CMAKE_FIND_ROOT_PATH ${ROS_SYSROOT})

# Please, be carefull looks like "-Wl,-unresolved-symbols=ignore-in-shared-libs" can lead to silent "ld" problems
set(CMAKE_SHARED_LINKER_FLAGS   "--sysroot=${CMAKE_FIND_ROOT_PATH} -L${LD_PATH} -L${LD_PATH_EXTRA_1} -Wl,-rpath,${LD_PATH} -Wl,-rpath,${LD_PATH_EXTRA_1} ${CMAKE_SHARED_LINKER_FLAGS}")
set(CMAKE_MODULE_LINKER_FLAGS   "--sysroot=${CMAKE_FIND_ROOT_PATH} -L${LD_PATH} -L${LD_PATH_EXTRA_1} -Wl,-rpath,${LD_PATH} -Wl,-rpath,${LD_PATH_EXTRA_1} ${CMAKE_SHARED_LINKER_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS      "--sysroot=${CMAKE_FIND_ROOT_PATH} -L${LD_PATH} -L${LD_PATH_EXTRA_1} -Wl,-rpath,${LD_PATH} -Wl,-rpath,${LD_PATH_EXTRA_1} ${CMAKE_EXE_LINKER_FLAGS}")


set(CMAKE_C_FLAGS "-fPIC --sysroot=${CMAKE_FIND_ROOT_PATH}" CACHE INTERNAL "" FORCE)
set(CMAKE_CXX_FLAGS "-fPIC --sysroot=${CMAKE_FIND_ROOT_PATH}" CACHE INTERNAL "" FORCE)

# Search for programs only in the build host directories
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)

# Search for libraries and headers only in the target directories
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

# set system default include dir
include_directories(BEFORE SYSTEM ${ROS_SYSROOT}/../include)