交叉编译从挂载目录中使用boost

Question

我试图交叉编译一个Jetson纳米 (aarch64)用x86_64 PC的ROS包。我使用的nvidia提供的工具链 (GCC工具链64位BSP).我一直在跟踪这篇文章的指导

由于编译器需要来自aarch64系统的boost二进制文件，所以我已经将nano的/usr/include/boost安装到构建目录的usr/include/boost中。这是我的构建目录传家宝。

.
├── gcc-4.8.5-aarch64   #<cross compiler>
│   └── install
│       ├── aarch64-unknown-linux-gnu
│        ...
├── opt                 #<ROS source files from nano>
│   └── ros
│       └── melodic
├── src                 #<test c++ code in here>
│   └── test_cpp
│       └── src
└── usr
    ├── include
    │   └── boost       #<nano's /usr/include/boost mounted in here>
    └── lib
        └── aarch64-linux-gnu  #<nano's /usr/lib/aarch64-linux-gnu mounted in here>

编译时，我会发现编译器找不到boost库的错误。

from /home/teshan/xcompile/src/test_cpp/src/talker.cpp:1: /home/teshan/xcompile/opt/ros/melodic/include/ros/time.h:58:50: 
fatal error: boost/math/special_functions/round.hpp: No such file or directory  
#include <boost/math/special_functions/round.hpp>
                                                 ^ 
compilation terminated.

我在挂载的目录usr/include/boost中有usr/include/boost文件。但似乎CMake找不到它。相反，它是boost/math/special_functions/round.hpp: No such file or directory，我认为它表示它搜索根目录中的boost目录(如果我错了，请纠正我)。

我看过这和这的答案，但是设置BOOST_ROOT似乎没有效果。任何对此的洞察力都会有很大帮助。

TL；博士

这是我的构建脚本

#!/bin/bash

PWD=$(pwd)
export LANG=C
source /opt/ros/melodic/setup.bash

catkin config --extend ${PWD}/opt/ros/melodic/

catkin build -j8 --cmake-args \
-DCMAKE_TOOLCHAIN_FILE=${PWD}/toolchain.cmake \
-DCMAKE_CROSS_COMPILE_PREFIX=${PWD} \
-DRT_LIBRARY=${PWD}/usr/lib/aarch64-linux-gnu/ 

这是我的toolchain.cmake

SET(CMAKE_SYSTEM_NAME Linux)

SET(CMAKE_C_COMPILER ${NANO_ROOT_PATH}/gcc-4.8.5-aarch64/install/bin/aarch64-unknown-linux-gnu-gcc)
SET(CMAKE_CXX_COMPILER ${NANO_ROOT_PATH}/gcc-4.8.5-aarch64/install/bin/aarch64-unknown-linux-gnu-g++)

# Below call is necessary to avoid non-RT problem.
SET(CMAKE_LIBRARY_ARCHITECTURE aarch64-linux-gnu)

SET(NANO_ROOT_PATH ${CMAKE_CURRENT_LIST_DIR})
SET(NANO_MELODIC_PATH ${NANO_ROOT_PATH}/opt/ros/melodic)

SET(CMAKE_FIND_ROOT_PATH ${NANO_ROOT_PATH} ${CATKIN_DEVEL_PREFIX})
SET(COMPILER_ROOT ${NANO_ROOT_PATH}/gcc-4.8.5-aarch64/install)

#Have to set this one to BOTH, to allow CMake to find rospack
#This set of variables controls whether the CMAKE_FIND_ROOT_PATH and CMAKE_SYSROOT are used for find_xxx() operations.
SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM BOTH)
SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
SET(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

SET(CMAKE_PREFIX_PATH ${NANO_MELODIC_PATH} ${NANO_ROOT_PATH}/usr)

SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --sysroot=${NANO_ROOT_PATH}" CACHE INTERNAL "" FORCE)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --sysroot=${NANO_ROOT_PATH}" CACHE INTERNAL "" FORCE)
SET(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} --sysroot=${NANO_ROOT_PATH}" CACHE INTERNAL "" FORCE)
SET(CMAKE_CXX_LINK_FLAGS "${CMAKE_CXX_LINK_FLAGS} --sysroot=${NANO_ROOT_PATH}" CACHE INTERNAL "" FORCE)

SET(LD_LIBRARY_PATH ${NANO_MELODIC_PATH}/lib)

set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)

#Skip toolchain trying to build a test program first
SET(CMAKE_C_COMPILER_WORKS 1)
SET(CMAKE_CXX_COMPILER_WORKS 1)

set(BOOST_ROOT ${NANO_ROOT_PATH}/usr/include/boost)

set(COMPILER_SYSROOT ${COMPILER_ROOT}/aarch64-unknown-linux-gnu/sysroot)
include_directories(BEFORE SYSTEM ${COMPILER_SYSROOT}/usr/include/)

Answer 1

通过安装整个/usr/include而不是/usr/include/boost解决了这个问题。编译器可能需要/usr/include中的其他文件/目录来查找Boost。

.
├── gcc-4.8.5-aarch64   #<cross compiler>
│   └── install
│       ├── aarch64-unknown-linux-gnu
│        ...
├── opt                 #<ROS source files from nano>
│   └── ros
│       └── melodic
├── src                 #<test c++ code in here>
│   └── test_cpp
│       └── src
└── usr
    ├── include         #<nano's /usr/include mounted in here>
    └── lib
        └── aarch64-linux-gnu  #<nano's /usr/lib/aarch64-linux-gnu mounted in here>