Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add minor fix to install deps., add workaround to KR260 fw #68

Merged
merged 2 commits into from
Jul 30, 2022
+23 −2
Merged

Add minor fix to install deps., add workaround to KR260 fw #68

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
b944b7d
Add minor fix to install deps., add workaround to KR260 fw
vmayoral Jul 17, 2022
c663076
Change path to setup instructions
vmayoral Jul 17, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
25 changes: 23 additions & 2 deletions sphinx/source/docs/install.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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 ~/krs_ws
wget https://www.xilinx.com/bin/public/openDownload?filename=acceleration_firmware_kv260.zip -P src/firmware/acceleration_firmware_kv260
vmayoral marked this conversation as resolved.
Show resolved Hide resolved
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
###################################################
Expand Down