From b944b7deae083563396c281747f5b7afea9ef0bf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?V=C3=ADctor=20Mayoral=20Vilches?= Date: Sun, 17 Jul 2022 09:41:29 +0200 Subject: [PATCH] Add minor fix to install deps., add workaround to KR260 fw MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Víctor Mayoral Vilches --- sphinx/source/docs/install.md | 25 +++++++++++++++++++++++-- 1 file changed, 23 insertions(+), 2 deletions(-) diff --git a/sphinx/source/docs/install.md b/sphinx/source/docs/install.md index 24ee6cb..79688e5 100644 --- a/sphinx/source/docs/install.md +++ b/sphinx/source/docs/install.md @@ -183,7 +183,8 @@ Cross-compilation of ROS 2 workspaces allows to build both CPU binaries as well sudo apt-get -y install curl build-essential libssl-dev git wget \ ocl-icd-* opencl-headers python3-vcstool \ python3-colcon-common-extensions python3-colcon-mixin \ - kpartx u-boot-tools pv gcc-multilib gcc-aarch64-linux-gnu g++-aarch64-linux-gnu + kpartx u-boot-tools pv gcc-multilib +sudo apt-get -y install gcc-aarch64-linux-gnu g++-aarch64-linux-gnu ################################################### # 2. create a new ROS 2 workspace with examples and @@ -286,10 +287,30 @@ source install/setup.bash Ubuntu 22.04 sysroot is not fully prepared for cross-compilation (but for native builds instead) and thereby, while invoking FindPython, it's just picking the host resources, instead of the target/sysroot ones, which leads to ROS 2 packages relying on Python 3 getting a dependency against the host (which doesn't exist), instead of against the sysroot. - A **workaround** for this is symlinking the Python3 library of the host to the sysroot one, so that it gets picked while cross-compiling against the Ubuntu 22.04 sysroot. The following should do: `sudo ln -s ~/krs_ws/src/install/../acceleration/firmware/kr260/sysroots/aarch64-xilinx-linux/usr/lib/aarch64-linux-gnu/libpython3.10.so.1.0 /usr/lib/aarch64-linux-gnu/libpython3.10.so`) + A **workaround** for this is symlinking the Python3 library of the host to the sysroot one, so that it gets picked while cross-compiling against the Ubuntu 22.04 sysroot. The following should do: `sudo ln -s ~/krs_ws/install/../acceleration/firmware/kr260/sysroots/aarch64-xilinx-linux/usr/lib/aarch64-linux-gnu/libpython3.10.so.1.0 /usr/lib/aarch64-linux-gnu/libpython3.10.so`) ``` ``` shell +################################################### +# 6.B workaround for KR260 additional firmware elements +# see https://github.com/Xilinx/KRS/issues/62#issue-1292007180 +# +# TODO: remove this once these artifacts are added to KR260 +# firmware ROS package (acceleration_firmware_kr260) +################################################### +# fetch KV260 firmware +cd +wget https://www.xilinx.com/bin/public/openDownload?filename=acceleration_firmware_kv260.zip -P src/firmware/acceleration_firmware_kv260 +unzip src/firmware/acceleration_firmware_kv260/openDownload\?filename\=acceleration_firmware_kv260.zip -d src/firmware/acceleration_firmware_kv260/ + +# deploy KV260 firmware +colcon build --merge-install --packages-select acceleration_firmware_kv260 + +# select KV260 firmware artifacts and re-build accelerators targeting KR260 build configuration +source install/setup.bash +colcon acceleration select kv260 + + ################################################### # 7.A cross-compile and generate ONLY CPU binaries ###################################################