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La arquitectura x86 realiza la compilación del código del sistema multiplataforma y hay muchas formas de implementarlo:
- Compilación cruzada: cadena de herramientas [Las nuevas bibliotecas de terceros no son fáciles de manejar]
- La forma de aislar el montaje [lento, el sistema de archivos se alterará]
3. QEMU u otros emuladores para ejecutar Docker [recomendado]
1. Compilación cruzada: cadena de herramientas
https://github.com/dockcross/dockcross.git
cadena de herramientas-aarch64.cmake
# DO NOT EDIT THIS FILE
#
# To set up cross-compilation, create the file
# $(ROS_ROOT)/rostoolchain.cmake. It gets read first, prior to
# any of cmake's system tests.
#############################################################
#
# An example for using the gumstix arm-linux toolchain is below.
# Copy these lines to $(ROS_ROOT)/rostoolchain.cmake to try them out.
#
#set(CMAKE_SYSTEM_NAME Linux)
#set(CMAKE_C_COMPILER /opt/arm-linux/bin/arm-linux-gcc)
#set(CMAKE_CXX_COMPILER /opt/arm-linux/bin/arm-linux-g++)
#set(CMAKE_FIND_ROOT_PATH /opt/arm-linux)
# Have to set this one to BOTH, to allow CMake to find rospack
#set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM BOTH)
#set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
#set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
#File rostoolchain.cmake
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR arm64)
set(CMAKE_SYSROOT /arm64)
set(CMAKE_C_COMPILER /usr/bin/aarch64-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER /usr/bin/aarch64-linux-gnu-g++)
set(CMAKE_FIND_ROOT_PATH /opt/ros/melodic /arm64)
set(CMAKE_LIBRARY_PATH /arm64/usr/lib/aarch64-linux-gnu /arm64/usr/lib /arm64/lib /arm64/usr/local/lib)
set(CMAKE_INCLUDE_PATH /arm64/usr/include /arm64/usr/local/include)
set(LD_LIBRARY_PATH /arm64/usr/lib/aarch64-linux-gnu /arm64/usr/lib /arm64/lib /arm64/usr/local/lib)
set(PYTHON_EXECUTABLE /usr/bin/python)
set(PCL_ROOT /arm64/usr)
set(CMAKE_CROSSCOMPILING true)
# Have to set this one to BOTH, to allow CMake to find rospack
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
catkin_make install -DCMAKE_TOOLCHAIN_FILE=/xx/toolchain-aarch64.cmake -j4
2. El método de montaje aislado:
montaje-ch.sh -m brazo64
montaje-ch.sh -u brazo64
Copie el archivo de biblioteca correspondiente en la máquina arm64 y colóquelo en la computadora x86 para aislarlo
$ ls arm64/
Arm64Env arm64_xc.gz bin boot dev etc home lib lost+found mnt opt proc root sbin snap srv sys system tmp usr var
ch-montaje.sh
#!/bin/bash
#
function mnt() {
echo "MOUNTING"
sudo mount -t proc /proc ${2}/proc
sudo mount -t sysfs /sys ${2}/sys
sudo mount -o bind /dev ${2}/dev
sudo mount -o bind /dev/pts ${2}/dev/pts
# sudo mount -o bind /run ${2}/run
# sudo mount -o bind /proc ${2}/proc
# sudo mount -o bind /sys ${2}/sys
sudo chroot ${2}
}
function umnt() {
echo "UNMOUNTING"
sudo umount ${2}/proc
sudo umount ${2}/sys
sudo umount ${2}/dev/pts
sudo umount ${2}/dev
# sudo umount ${2}/run
}
if [ "$1" == "-m" ] && [ -n "$2" ] ;
then
mnt $1 $2
elif [ "$1" == "-u" ] && [ -n "$2" ];
then
umnt $1 $2
else
echo ""
echo "Either 1'st, 2'nd or both parameters were missing"
echo ""
echo "1'st parameter can be one of these: -m(mount) OR -u(umount)"
echo "2'nd parameter is the full path of rootfs directory(with trailing '/')"
echo ""
echo "For example: ch-mount -m /media/sdcard/"
echo ""
echo 1st parameter : ${1}
echo 2nd parameter : ${2}
fi
3. QEMU u otro emulador para ejecutar Docker
Si la imagen de Docker que ejecuta en la computadora x86 ya tiene como destino la arquitectura arm64 (por ejemplo, use FROM arm64v8/ubuntu como imagen base), entonces no necesita configurar la compilación cruzada. Esto se debe a que la propia imagen de Docker ya contiene bibliotecas y herramientas para arm64.
En este caso, puede compilar programas arm64 directamente en la imagen de Docker. Tenga en cuenta, sin embargo, que es posible que deba configurar QEMU u otro emulador en la máquina host para ejecutar realmente la imagen arm64 Docker en la máquina x86. De lo contrario, puede tener problemas de compatibilidad porque está intentando ejecutar el código arm64 en un host x86.
Cuando se ejecuta una imagen de Docker arm64, Docker configura automáticamente QEMU para emular la arquitectura arm64. Asegúrese de tener QEMU instalado en su máquina host y habilite la compatibilidad con el formato binario correspondiente para ejecutar estas imágenes correctamente.
安装QEMU和支持库:
sudo apt-get install qemu-user-static binfmt-support
将QEMU的ARM64静态二进制文件复制到Dockerfile的当前目录:
cp /usr/bin/qemu-aarch64-static .
在Dockerfile中添加以下指令以包含QEMU二进制文件:
COPY qemu-aarch64-static /usr/bin/
要确保您的宿主机上安装了 QEMU 并启用了对应的二进制格式支持,请按照以下步骤操作:
首先,安装 QEMU。在基于 Debian 的系统(如 Ubuntu)上,您可以使用以下命令进行安装:
sudo apt-get update
sudo apt-get install qemu qemu-user-static binfmt-support
在基于 RHEL 的系统(如 CentOS、Fedora)上,您可以使用以下命令进行安装:
sudo yum install qemu qemu-user-static
接下来,验证 QEMU 是否已安装:
qemu-system-aarch64 --version
如果成功安装,您应该会看到 QEMU 版本信息。
确认 binfmt-support 服务是否启用:
sudo systemctl status binfmt-support
如果服务未启用,请使用以下命令启用并启动服务:
sudo systemctl enable binfmt-support
sudo systemctl start binfmt-support
最后,确保您的系统已注册了 ARM64 架构的二进制格式支持。运行以下命令:
cat /proc/sys/fs/binfmt_misc/qemu-aarch64
如果已启用支持,您应该会看到包含 "flags: F" 和 "interpreter /usr/bin/qemu-aarch64-static" 的输出。
完成这些步骤后,您的宿主机应已准备好运行 ARM64 架构的 Docker 镜像。这意味着您可以在这些镜像中直接编译 ARM64 程序,而无需配置交叉编译。
Dockerfile.arm64_melodic
FROM arm64v8/ros:melodic-perception
ENV WS=/home/xx/yy
COPY start.sh /home/xx/yy/
COPY qemu-aarch64-static /usr/bin/
COPY sources.list.arm /etc/apt/sources.list
COPY ros.asc /etc/
RUN apt-get install -y build-essential
RUN sh -c '. /etc/lsb-release && echo "deb http://mirrors.sjtug.sjtu.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list' && \
apt-key add /etc/ros.asc
#RUN apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE
RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 7EA0A9C3F273FCD8
RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-keys C8B3A55A6F3EFCDE
RUN apt update
RUN apt-get install -y ros-melodic-desktop-full
RUN apt-get install -y python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential python-catkin-tools python3-vcstool
RUN apt-get install -y ros-melodic-ecl libgoogle-glog-dev libgflags-dev libbullet-dev libsdl2-dev zstd libsdl-image1.2-dev libsdl-dev
RUN apt-get install -y ros-melodic-tf2-geometry-msgs ros-melodic-tf2-sensor-msgs ros-melodic-urdf \
ros-melodic-usb-cam ros-melodic-rgbd-launch ros-melodic-libuvc ros-melodic-libuvc-camera ros-melodic-libuvc-ros \
ros-melodic-move-base-msgs ros-melodic-kobuki-msgs libfcl-dev ros-melodic-bfl ros-melodic-pcl-ros libpcl-dev
RUN mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak && \
mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.hc.bak && \
ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h && \
ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
RUN apt-get install -y ros-melodic-qt-build libevent-dev gcc g++ gfortran git cmake liblapack-dev pkg-config swig ipython python-dev python-numpy python-scipy python-matplotlib --install-recommends
RUN apt-get install -y tmux ros-melodic-dynamic-reconfigure libzstd-dev
RUN apt-get install -y \
clang \
cmake \
g++ \
git \
google-mock \
libboost-all-dev \
libcairo2-dev \
libcurl4-openssl-dev \
libeigen3-dev \
libgflags-dev \
libgoogle-glog-dev \
liblua5.2-dev \
libsuitesparse-dev \
lsb-release \
ninja-build \
stow
RUN apt-get install -y vim net-tools git ssh
RUN apt-get install -y python-sphinx
RUN apt-get install -y libceres-dev tar
WORKDIR /home/xx/carto_libs
#git clone http://gitlab.csjbot.com/RenBot/abseil-cpp.git
#git clone http://gitlab.csjbot.com/RenBot/ceres-solver.git
#git clone http://gitlab.csjbot.com/RenBot/protobuf.git
#ADD abseil-cpp.tar.gz /home/xx/carto_libs/abseil-cpp.tar.gz
#ADD ceres-solver.tar.gz /home/xx/carto_libs/ceres-solver.tar.gz
#ADD protobuf.tar.gz /home/xx/carto_libs/protobuf.tar.gz
COPY abseil-cpp.tar.gz /home/xx/carto_libs/
COPY ceres-solver.tar.gz /home/xx/carto_libs/
COPY protobuf.tar.gz /home/xx/carto_libs/
WORKDIR /home/xx/carto_libs/
RUN tar -xzvf /home/xx/carto_libs/abseil-cpp.tar.gz abseil-cpp && \
tar -xzvf /home/xx/carto_libs/ceres-solver.tar.gz && \
tar -xzvf /home/xx/carto_libs/protobuf.tar.gz
RUN echo "Start ceres"
WORKDIR /home/xx/carto_libs/ceres-solver
RUN cd /home/xx/carto_libs/abseil-cpp && \
#git checkout tags/carto && \
mkdir -p build && \
cd build && \
cmake .. -DCXX11=ON && \
make -j16 && \
make install >> ../install.info && \
echo "Finish ceres"
RUN echo "Start abseil"
WORKDIR /home/xx/carto_libs/abseil-cpp/
#RUN cd abseil-cpp
RUN cd /home/xx/carto_libs/abseil-cpp && \
#git checkout tags/carto && \
mkdir -p build && \
cd build && \
cmake -DCMAKE_BUILD_TYPE=Release -DCXX11=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl .. && \
make -j12 && \
make install >> ../install.info
RUN cd /usr/local/stow && \
stow --replace absl && \
echo "Finish abseil"
WORKDIR /home/xx/carto_libs
RUN echo "Start protobuf"
RUN cd /home/xx/carto_libs/protobuf && \
#git checkout tags/carto && \
mkdir -p build && \
cd build && \
cmake -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_BUILD_TYPE=Release -Dprotobuf_BUILD_TESTS=OFF ../cmake && \
make -j12 && \
sudo make install >> ../install.info && \
echo "Finish protobuf"
RUN echo "export DISABLE_AUTO_TITLE=true" >> ~/.bashrc
RUN echo 'LC_NUMERIC="en_US.UTF-8"' >> ~/.bashrc
RUN echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
RUN echo 'alias cinstall="catkin_make install -j12"' >> ~/.bashrc
RUN echo 'alias cbuild="catkin_make -j12"' >> ~/.bashrc
RUN echo "bashrc"
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
RUN echo "source /opt/ros/melodic/setup.bash" >> /home/xx/.bashrc
RUN echo "source /home/xx/yy/install/setup.bash" >> /home/xx/.bashrc
RUN echo "source /home/xx/yy/install/setup.bash" >> ~/.bashrc
RUN pwd
WORKDIR $WS
CMD ["bash","-c","/home/xx/yy/start.sh"]