CrossCompile ROS Desktop packages for Pegasus/Xavier platform

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX Xavier General
1

I tried the following commands to get ROS desktop cross-crompiled:

rosinstall_generator desktop --rosdistro melodic --deps --tar > melodic-desktop.rosinstall
wstool init -j8 src melodic-desktop.rosinstall

Howerver, cross-compilation fails on the following:

==> Processing plain cmake package: ‘orocos_kdl’
==> Creating build directory: ‘build_isolated/orocos_kdl/install’
==> Building with env: ‘/home/jvilela/ros_catkin_ws/install_isolated/env.sh’
==> cmake /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl -DCMAKE_INSTALL_PREFIX=/home/jvilela/ros_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=/home/jvilela/ros_catkin_ws/Toolchain-V5L.cmake -G Unix Makefiles in ‘/home/jvilela/ros_catkin_ws/build_isolated/orocos_kdl/install’
– The C compiler identification is GNU 7.3.1
– The CXX compiler identification is GNU 7.3.1
– Check for working C compiler: /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-gcc
– Check for working C compiler: /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-gcc – works
– Detecting C compiler ABI info
– Detecting C compiler ABI info - done
– Detecting C compile features
– Detecting C compile features - done
– Check for working CXX compiler: /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-g++
– Check for working CXX compiler: /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-g++ – works
– Detecting CXX compiler ABI info
– Detecting CXX compiler ABI info - done
– Detecting CXX compile features
– Detecting CXX compile features - done
– Orocos KDL version (1.4.0)
– Build type set to ‘Release’ by user.
– Could NOT find Eigen3 (missing: EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) (Required is at least version “2.91.0”)
– Performing Test HAVE_STL_CONTAINER_INCOMPLETE_TYPES
– Performing Test HAVE_STL_CONTAINER_INCOMPLETE_TYPES - Success
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
EIGEN3_INCLUDE_DIR (ADVANCED)
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/doc
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/doc
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/doc
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/doc
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/doc
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/doc
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/doc
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/tests
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/tests
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/tests
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/tests
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/tests
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/tests
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/models
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/models
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/models
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/models
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/models
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/models
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/examples
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/examples
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/examples
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/examples
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/examples
used as include directory in directory /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/examples

– Configuring incomplete, errors occurred!
See also “/home/jvilela/ros_catkin_ws/build_isolated/orocos_kdl/install/CMakeFiles/CMakeOutput.log”.
<== Failed to process package ‘orocos_kdl’:
Command ‘[’/home/jvilela/ros_catkin_ws/install_isolated/env.sh’, ‘cmake’, ‘/home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl’, ‘-DCMAKE_INSTALL_PREFIX=/home/jvilela/ros_catkin_ws/install_isolated’, ‘-DCMAKE_BUILD_TYPE=Release’, ‘-DCMAKE_TOOLCHAIN_FILE=/home/jvilela/ros_catkin_ws/Toolchain-V5L.cmake’, ‘-G’, ‘Unix Makefiles’]’ returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/jvilela/ros_catkin_ws/build_isolated/orocos_kdl && /home/jvilela/ros_catkin_ws/install_isolated/env.sh cmake /home/jvilela/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl -DCMAKE_INSTALL_PREFIX=/home/jvilela/ros_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=/home/jvilela/ros_catkin_ws/Toolchain-V5L.cmake -G ‘Unix Makefiles’

Command failed, exiting.

Can you confirm desktop ROS can be cross-compiled without issues on your side?

2

Additional to that error. When I tried to chroot and run apt-get update, Getting this error currently:

jvilela@soads-gpu-4:/opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a$ sudo LC_ALL=C chroot .
root@soads-gpu-4:/# apt-get update
Get:1 file:/var/cuda-repo-10-2-local-10.2.19 InRelease
Ign:1 file:/var/cuda-repo-10-2-local-10.2.19 InRelease
Get:2 file:/var/cuda-repo-10-2-local-10.2.19 Release [574 B]
Get:2 file:/var/cuda-repo-10-2-local-10.2.19 Release [574 B]
Get:3 file:/var/cuda-repo-10-2-local-10.2.19 Release.gpg [819 B]
Get:3 file:/var/cuda-repo-10-2-local-10.2.19 Release.gpg [819 B]
Get:4 Index of /ubuntu-ports bionic InRelease [242 kB]
Get:5 Index of /ubuntu-ports bionic-updates InRelease [88.7 kB]
0% [3 Release.gpg gpgv 574 B] [Waiting for headers]gpgv: Signature made Thu May 2 23:12:13 2019 UTC
gpgv: using RSA key F60F4B3D7FA2AF80
gpgv: Good signature from “cudatools cudatools@nvidia.com”
/usr/bin/apt-key: 624: /usr/bin/apt-key: cannot create /dev/null: Permission denied
terminate called after throwing an instance of ‘std::runtime_error’
what(): random_device::random_device(const std::string&)
qemu: uncaught target signal 6 (Aborted) - core dumped
Aborted (core dumped)
root@soads-gpu-4:/#

3

Please follow ROS source installation wiki and try non cross compiling the same core ROS packages on your host system. You can see if it hit the same issue.

4

When was the last time it worked on your side? Could you figure out what causes the problem?

6

I worked as yesterday. So rebooting my workstation and trying one more time.

7

@VickNV

Rebooting and starting again helped!!

Got blocked on the following:

==> Processing catkin package: ‘rqt_gui_cpp’
==> Building with env: ‘/home/jvilela/ros_catkin_ws/install_isolated/env.sh’
==> cmake /home/jvilela/ros_catkin_ws/src/rqt/rqt_gui_cpp -DCATKIN_DEVEL_PREFIX=/home/jvilela/ros_catkin_ws/devel_isolated/rqt_gui_cpp -DCMAKE_INSTALL_PREFIX=/home/jvilela/ros_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=/home/jvilela/ros_catkin_ws/Toolchain-V5L.cmake -G Unix Makefiles in ‘/home/jvilela/ros_catkin_ws/build_isolated/rqt_gui_cpp’
– Using CATKIN_DEVEL_PREFIX: /home/jvilela/ros_catkin_ws/devel_isolated/rqt_gui_cpp
– Using CMAKE_PREFIX_PATH: /home/jvilela/ros_catkin_ws/install_isolated;/opt/ros/melodic
– This workspace overlays: /home/jvilela/ros_catkin_ws/install_isolated;/opt/ros/melodic
– Found PythonInterp: /usr/bin/python2 (found suitable version “2.7.17”, minimum required is “2”)
– Using PYTHON_EXECUTABLE: /usr/bin/python2
– Using Debian Python package layout
– Using empy: /usr/bin/empy
– Using CATKIN_ENABLE_TESTING: ON
– Call enable_testing()
– Using CATKIN_TEST_RESULTS_DIR: /home/jvilela/ros_catkin_ws/build_isolated/rqt_gui_cpp/test_results
– Found gtest sources under ‘/usr/src/googletest’: gtests will be built
– Found gmock sources under ‘/usr/src/googletest’: gmock will be built
– Found PythonInterp: /usr/bin/python2 (found version “2.7.17”)
– Using Python nosetests: /usr/bin/nosetests-2.7
– catkin 0.7.29
– BUILD_SHARED_LIBS is on
– Configuring done
CMake Warning at CMakeLists.txt:26 (add_library):
Cannot generate a safe runtime search path for target rqt_gui_cpp because
files in some directories may conflict with libraries in implicit
directories:

runtime library [libpython2.7.so.1.0] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libboost_program_options.so.1.65.1] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libtinyxml2.so.6] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libboost_filesystem.so.1.65.1] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [liblog4cxx.so.10] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libboost_regex.so.1.65.1] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libboost_system.so.1.65.1] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libboost_thread.so.1.65.1] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libboost_chrono.so.1.65.1] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libboost_date_time.so.1.65.1] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libboost_atomic.so.1.65.1] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libpthread.so] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libQt5Widgets.so.5] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libQt5Gui.so.5] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libEGL.so.1] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libGLESv2.so.2] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu
runtime library [libQt5Core.so.5] in /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/usr/lib/aarch64-linux-gnu may be hidden by files in:
  /usr/lib/x86_64-linux-gnu

Some of these libraries may not be found correctly.

– Generating done
– Build files have been written to: /home/jvilela/ros_catkin_ws/build_isolated/rqt_gui_cpp
==> make -j24 -l24 in ‘/home/jvilela/ros_catkin_ws/build_isolated/rqt_gui_cpp’
[ 20%] Generating src/rqt_gui_cpp/moc_roscpp_plugin_provider.cpp
/lib/ld-linux-aarch64.so.1: No such file or directory
CMakeFiles/rqt_gui_cpp.dir/build.make:61: recipe for target ‘src/rqt_gui_cpp/moc_roscpp_plugin_provider.cpp’ failed
make[2]: *** [src/rqt_gui_cpp/moc_roscpp_plugin_provider.cpp] Error 255
CMakeFiles/Makefile2:931: recipe for target ‘CMakeFiles/rqt_gui_cpp.dir/all’ failed
make[1]: *** [CMakeFiles/rqt_gui_cpp.dir/all] Error 2
Makefile:140: recipe for target ‘all’ failed
make: *** [all] Error 2
<== Failed to process package ‘rqt_gui_cpp’:
Command ‘[’/home/jvilela/ros_catkin_ws/install_isolated/env.sh’, ‘make’, ‘-j24’, ‘-l24’]’ returned non-zero exit status 2

Reproduce this error by running:
==> cd /home/jvilela/ros_catkin_ws/build_isolated/rqt_gui_cpp && /home/jvilela/ros_catkin_ws/install_isolated/env.sh make -j24 -l24

Command failed, exiting.
jvilela@soads-gpu-4:~/ros_catkin_ws$

It seems some libraries cant be found but not sure how to go around it.

any advise?

8

@VickNV

Other error I found is related to the libraries in the wrong format:

==> Processing catkin package: ‘tf_conversions’
==> Creating build directory: ‘build_isolated/tf_conversions’
==> Building with env: ‘/home/jvilela/ros_catkin_ws/install_isolated/env.sh’
==> cmake /home/jvilela/ros_catkin_ws/src/geometry/tf_conversions -DCATKIN_DEVEL_PREFIX=/home/jvilela/ros_catkin_ws/devel_isolated/tf_conversions -DCMAKE_INSTALL_PREFIX=/home/jvilela/ros_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=/home/jvilela/ros_catkin_ws/Toolchain-V5L.cmake -G Unix Makefiles in ‘/home/jvilela/ros_catkin_ws/build_isolated/tf_conversions’
– The C compiler identification is GNU 7.3.1
– The CXX compiler identification is GNU 7.3.1
– Check for working C compiler: /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-gcc
– Check for working C compiler: /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-gcc – works
– Detecting C compiler ABI info
– Detecting C compiler ABI info - done
– Detecting C compile features
– Detecting C compile features - done
– Check for working CXX compiler: /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-g++
– Check for working CXX compiler: /opt/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-g++ – works
– Detecting CXX compiler ABI info
– Detecting CXX compiler ABI info - done
– Detecting CXX compile features
– Detecting CXX compile features - done
– Using CATKIN_DEVEL_PREFIX: /home/jvilela/ros_catkin_ws/devel_isolated/tf_conversions
– Using CMAKE_PREFIX_PATH: /home/jvilela/ros_catkin_ws/install_isolated;/opt/ros/melodic
– This workspace overlays: /home/jvilela/ros_catkin_ws/install_isolated;/opt/ros/melodic
– Found PythonInterp: /usr/bin/python2 (found suitable version “2.7.17”, minimum required is “2”)
– Using PYTHON_EXECUTABLE: /usr/bin/python2
– Using Debian Python package layout
– Using empy: /usr/bin/empy
– Using CATKIN_ENABLE_TESTING: ON
– Call enable_testing()
– Using CATKIN_TEST_RESULTS_DIR: /home/jvilela/ros_catkin_ws/build_isolated/tf_conversions/test_results
– Found gtest sources under ‘/usr/src/googletest’: gtests will be built
– Found gmock sources under ‘/usr/src/googletest’: gmock will be built
– Found PythonInterp: /usr/bin/python2 (found version “2.7.17”)
– Looking for pthread.h
– Looking for pthread.h - found
– Looking for pthread_create
– Looking for pthread_create - not found
– Looking for pthread_create in pthreads
– Looking for pthread_create in pthreads - not found
– Looking for pthread_create in pthread
– Looking for pthread_create in pthread - found
– Found Threads: TRUE
– Using Python nosetests: /usr/bin/nosetests-2.7
– catkin 0.7.29
– BUILD_SHARED_LIBS is on
– Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
– Configuring done
– Generating done
– Build files have been written to: /home/jvilela/ros_catkin_ws/build_isolated/tf_conversions
==> make -j24 -l24 in ‘/home/jvilela/ros_catkin_ws/build_isolated/tf_conversions’
Scanning dependencies of target actionlib_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_py
Scanning dependencies of target sensor_msgs_generate_messages_cpp
Scanning dependencies of target tf2_msgs_generate_messages_cpp
Scanning dependencies of target actionlib_msgs_generate_messages_lisp
Scanning dependencies of target rosgraph_msgs_generate_messages_nodejs
Scanning dependencies of target tf2_msgs_generate_messages_lisp
Scanning dependencies of target tf2_msgs_generate_messages_py
Scanning dependencies of target actionlib_msgs_generate_messages_cpp
Scanning dependencies of target tf2_msgs_generate_messages_eus
Scanning dependencies of target tf2_msgs_generate_messages_nodejs
Scanning dependencies of target actionlib_msgs_generate_messages_py
Scanning dependencies of target actionlib_generate_messages_nodejs
Scanning dependencies of target actionlib_msgs_generate_messages_eus
Scanning dependencies of target sensor_msgs_generate_messages_nodejs
Scanning dependencies of target actionlib_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_nodejs
Scanning dependencies of target actionlib_generate_messages_eus
Scanning dependencies of target rosgraph_msgs_generate_messages_py
Scanning dependencies of target tf_generate_messages_cpp
Scanning dependencies of target std_msgs_generate_messages_lisp
Scanning dependencies of target sensor_msgs_generate_messages_eus
Scanning dependencies of target geometry_msgs_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target tf2_msgs_generate_messages_py
[ 0%] Built target actionlib_generate_messages_py
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/opt/ros/melodic/lib/libkdl_conversions.so: error adding symbols: File in wrong format
collect2: error: ld returned 1 exit status
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<== Failed to process package ‘tf_conversions’:
Command ‘[’/home/jvilela/ros_catkin_ws/install_isolated/env.sh’, ‘make’, ‘-j24’, ‘-l24’]’ returned non-zero exit status 2

Reproduce this error by running:
==> cd /home/jvilela/ros_catkin_ws/build_isolated/tf_conversions && /home/jvilela/ros_catkin_ws/install_isolated/env.sh make -j24 -l24

Command failed, exiting.

Not sure if this issue is due to be using x86 libraries instead of arm64.

9

You may need to figure out why it’s not link ~/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs_a/lib/aarch64-linux-gnu/ld-linux-aarch64.so.1.

10

I would suggest you to refer to the log of your successful cross compiling to figure out the problem.