How to complete the cross-compilation of autoware specified component?

[Reincaren]

We want to run Autoware on our chip, so we need to cross-compile to deploy it to run, how do we do that? Are there any relevant documents or cases for reference?

[Reincaren]

1. ros2 humble can be used normally in Ubuntu22.04, but Autoware installed with source code cannot be started normally. After executing the source install/ setup. bash command, an error message will be reported that some setup files cannot be found. After we move the file with the corresponding name in the install directory to the desired path, the error _colcon_prefix_sh_source_scirpt:command not found is displayed.
2. Not sure how to cross-compile components specified in Autoware[Important]

[mitsudome-r]

@esteve It seems like you created crosscompiling tools for Raspberry pi. Do you have any comments about crosscompilation of ROS 2 packages?

[esteve]

@mitsudome-r thanks for the ping

@Reincaren I haven't crosscompiled ROS 2 in a long while. At the time, I used https://github.com/ruslo/polly as CMake toolchain for setting up the compiler, but I see that repository has been archived. Basically you can pass a CMake toolchain file (https://cmake.org/cmake/help/book/mastering-cmake/chapter/Cross%20Compiling%20With%20CMake.html) to colcon via --cmake-args and CMake will do the rest

[mitsudome-r]

@Reincaren Do you still need help on this matter?
If so, could you answer the following questions?

1. Issue with command not found

It could be caused by this manual modification of the path. Could you tell me which packages you had to move? At least, on my machine, I didn't see package not found error after build of Autoware.

2. Cross compile
   Were you able to try out Esteve's suggestion about passing a CMake Toolchain file to colcon?

[Reincaren]

@Reincaren Do you still need help on this matter? If so, could you answer the following questions?

1. Issue with command not found

It could be caused by this manual modification of the path. Could you tell me which packages you had to move? At least, on my machine, I didn't see package not found error after build of Autoware.

2. Cross compile
   Were you able to try out Esteve's suggestion about passing a CMake Toolchain file to colcon?

I have now given up on cross-compilation, and installed the environment of Ros2 humble and the source code of autoware on the Jetson Orin Nano of the arm architecture, but there are often errors that some cmake files cannot be found, such as osqp, etc., I am manually solving them one by one, but this is too inefficient

[Reincaren]

@Reincaren Thanks, regarding the _colcon_prefix_sh_script, it's the first time to see the error.

error message will be reported that some setup files cannot be found. After we move the file with the corresponding name in the install directory to the desired path

It could be caused by this manual modification of the path. Could you tell me which packages you had to move? At least, on my machine, I didn't see package not found error after build of Autoware.

I haven't moved any packages manually, I just canceled the CUDA installation when I followed the official tutorial to autoware because CUDA is not supported on my target machine.

[Reincaren]

I report this error all the time now. How can I fix it? I even reinstalled the PCL, version 1.12, did not modify the environment variable, <#include> path can find the required files in PCL, but always report this link is wrong, how to solve?

[mitsudome-r]

Is it possible to provide the list of command lines that you ran to build autoware first?

[chuanyiyang]

Except for Rviz and modules that rely on Cuda and GPU, all other modules have been compiled successfully, but there are some errors when running the demo。 how to solve these dependency issues？ Thanks.

And:

1. There is no Rviz on the development board. Can the demo running on the development board be connected to Rviz on the desktop system through the network?
2. Without GPU-related modules, whether the demo can run normally, whether the algorithm can run on the CPU, and slower is acceptable. After having an executable demo, I can gradually replace the algorithm to run on the BPU with controllable variables. Without an executable demo, it is impossible to judge whether it runs correctly

[esteve]

Yes, you will have to cross-compile these two packages. Would it be possible to use Docker to run Ubuntu on your system? Ubuntu is the only distribution that is fully supported by ROS and Autoware.

[Reincaren]

Yes, you will have to cross-compile these two packages. Would it be possible to use Docker to run Ubuntu on your system? Ubuntu is the only distribution that is fully supported by ROS and Autoware.
We found it easier to use apt install download ros-humble xacro on arm's ubuntu and install the desired deb package on the debian system. Now a new problem has arisen, how do I install this diagnostics_aggregator?

[esteve]

From these logs, it seems you need to install the diagnostic_aggregator package as well.

[Reincaren]

Thank you very much for your help, and now it is running successfully. At present, we want to separate the visual Rviz and configure the domain id of ros2 and cyclonedd_config.xml with reference to the document you provided, but how can I receive it on the industrial computer? Shoud I use ROS2 run to receive? For example, we run ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit, how do we receive his message and run it on the industrial computer?

[mitsudome-r]

You just have to run RVIZ on the industrial PC. Something like rviz2 -d autoware/src/launcher/autoware_launch/autoware_launch/rviz/autoware.rviz. (the path to .rviz file might be different if you installed Autoware in a different folder.)

If you don't see anything, then you might have some issues with the configuration.
Do you see anything when you run ros2 topic list on the remote computer? Do you see the topics from Autoware?