@ahemwe I think it might be relevant to read through this: Use cross-compilers to compile workspace instead of an emulated compilation · Issue #69 · ros-tooling/cross_compile · GitHub.
This discussion references to:
- This branch of the repository, which seems out of date,
- The cross compile tools of epuck_ros2, which is probably a good starting point for people looking into cross-compiling for raspberry pi, and
- ccws, which seems targeted mainly to ROS1 (?).
I assume micro ROS documentation might also provide relevant info wrt cross compilation (did not check it).
However, reading through this thread makes me think twice before going through the cross-compile route, at least for a relatively performant platform as a raspberry pi 4.
Also relevant: dist-cc is mentioned as a possible alternative to cross-compiling.
@vmayoral I assume the extension of ament as you propose rather is meant to seamlessly integrate host-native compilers (typically FPGA-brand specific) into the ROS2 build system, as opposed to setting up a full build environment with all target platform specific library dependencies etc?
Regards,
Johan