How to cross-compile ROS2 for arm64 architecture

Next Generation ROS
5

By these, cross-compilation is working.

sed -e '/py/ s/^#*/#/' -i src/ros2/rosidl_typesupport/rosidl_default_generators/CMakeLists.txt
sed -i -r 's/<build(.+?py.+?)/<\!\-\-build\1\-\->/' src/ros2/rosidl_typesupport/rosidl_default_generators/package.xml

touch \
  src/ros2/demos/AMENT_IGNORE \
  src/ros2/examples/rclpy/AMENT_IGNORE \
  src/ros2/geometry2/AMENT_IGNORE \
  src/ros2/orocos_kinematics_dynamics/AMENT_IGNORE \
  src/ros2/rclpy/AMENT_IGNORE \
  src/ros2/rcl_interfaces/test_msgs/AMENT_IGNORE \
  src/ros2/robot_model/AMENT_IGNORE \
  src/ros2/robot_state_publisher/AMENT_IGNORE \
  src/ros2/ros1_bridge/AMENT_IGNORE \
  src/ros2/rosidl/rosidl_generator_py/AMENT_IGNORE \
  src/ros2/system_tests/AMENT_IGNORE \
  src/ros2/urdfdom/AMENT_IGNORE \
  src/ros2/urdfdom_headers/AMENT_IGNORE \
  src/ros2/urdf/AMENT_IGNORE \
  src/ros2/urdfdom/AMENT_IGNORE \
  src/ros2/kdl_parser/AMENT_IGNORE

src/ament/ament_tools/scripts/ament.py build \
    --force-cmake-configure \
    --skip-packages resource_retriever \
            rviz_assimp_vendor rviz_ogre_vendor \
            rviz_yaml_cpp_vendor rviz_rendering \
            rviz_rendering_tests rviz_common \
            rviz2 rviz_default_plugins \
    --cmake-args \
    -DCMAKE_TOOLCHAIN_FILE=`pwd`/aarch64_toolchainfile.cmake \
    -DTHIRDPARTY=ON --

However, ‘ExternalProject_Add’ macro could not take toolchain settings into CMake based vendor package. That is the reason why ‘resource_retriever’ package is skipped. I may spend some time to look into the issue.