2023-03-23 19:20:44 +01:00
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SET(CMAKE_SYSTEM_NAME Linux)
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# Possibly needed tweak
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#SET(CMAKE_SYSTEM_PROCESSOR aarch64)
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SET(CMAKE_C_COMPILER ${COMPILER_ROOT}/aarch64-linux-gnu-gcc-8)
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SET(CMAKE_CXX_COMPILER ${COMPILER_ROOT}/aarch64-linux-gnu-g++-8)
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# Below call is necessary to avoid non-RT problem.
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SET(CMAKE_LIBRARY_ARCHITECTURE aarch64-linux-gnu)
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SET(CPACK_DEBIAN_PACKAGE_ARCHITECTURE aarch64)
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SET(CPACK_RPM_PACKAGE_ARCHITECTURE aarch64)
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2023-08-05 20:31:33 +02:00
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SET(RASPBERRY_ROOT_PATH ${DPP_ROOT_PATH}/arm_raspberry)
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2023-03-23 19:20:44 +01:00
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SET(RASPBERRY_KINETIC_PATH ${RASPBERRY_ROOT_PATH}/opt/ros/kinetic)
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SET(CMAKE_FIND_ROOT_PATH ${RASPBERRY_ROOT_PATH} ${CATKIN_DEVEL_PREFIX})
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#If you have installed cross compiler to somewhere else, please specify that path.
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SET(COMPILER_ROOT /usr/bin)
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#Have to set this one to BOTH, to allow CMake to find rospack
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#This set of variables controls whether the CMAKE_FIND_ROOT_PATH and CMAKE_SYSROOT are used for find_xxx() operations.
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#SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM BOTH)
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#SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
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#SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
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#SET(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
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INCLUDE_DIRECTORIES(
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/usr/include/aarch64-linux-gnu)
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SET(ZLIB_LIBRARY /lib/aarch64-linux-gnu/libz.so.1.2.11)
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SET(OPENSSL_CRYPTO_LIBRARY /usr/lib/aarch64-linux-gnu/libcrypto.so)
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SET(OPENSSL_SSL_LIBRARY /usr/lib/aarch64-linux-gnu/libssl.so)
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SET(CMAKE_PREFIX_PATH ${RASPBERRY_KINETIC_PATH} ${RASPBERRY_ROOT_PATH}/usr)
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SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --sysroot=${RASPBERRY_ROOT_PATH} -Wno-psabi" CACHE INTERNAL "" FORCE)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --sysroot=${RASPBERRY_ROOT_PATH} -Wno-psabi" CACHE INTERNAL "" FORCE)
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SET(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} --sysroot=${RASPBERRY_ROOT_PATH} -ldl" CACHE INTERNAL "" FORCE)
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SET(CMAKE_CXX_LINK_FLAGS "${CMAKE_CXX_LINK_FLAGS} --sysroot=${RASPBERRY_ROOT_PATH} -ldl" CACHE INTERNAL "" FORCE)
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SET(LD_LIBRARY_PATH ${RASPBERRY_KINETIC_PATH}/lib)
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EXECUTE_PROCESS(COMMAND printf "deb [arch=amd64] http://archive.ubuntu.com/ubuntu/ focal main multiverse restricted universe\ndeb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports/ focal main multiverse restricted universe\ndeb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports/ focal-updates main multiverse restricted universe\ndeb [arch=amd64] http://archive.ubuntu.com/ubuntu/ focal-updates main multiverse restricted universe\ndeb [arch=amd64] http://security.ubuntu.com/ubuntu/ focal-security main multiverse restricted universe"
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OUTPUT_FILE TMPFILE)
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EXECUTE_PROCESS(COMMAND sudo mv TMPFILE /etc/apt/sources.list)
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EXECUTE_PROCESS(COMMAND sudo dpkg --add-architecture arm64)
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EXECUTE_PROCESS(COMMAND sudo apt-add-repository -y ppa:canonical-kernel-team/ppa)
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EXECUTE_PROCESS(COMMAND sudo apt update)
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EXECUTE_PROCESS(COMMAND sudo apt install -y cmake ninja-build gcc-8-aarch64-linux-gnu g++-8-aarch64-linux-gnu libc6-dev-arm64-cross zlib1g-dev:arm64 libssl-dev:arm64 libopus-dev:arm64 libsodium-dev:arm64)
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EXECUTE_PROCESS(COMMAND sudo mv /usr/lib/aarch64-linux-gnu/pkgconfig/libsodium.pc /usr/lib/pkgconfig/)
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