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[graugans]

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[tengraoshu126]

Does this support the Arm Xaviar architecture, and can it be compiled on it?

[desengph]

The build process shouldn't differ much for AMD64 or ARM64V8 architectures.
We test by building the software in their respective Docker containers.

Please find attached a copy of the build instructions based on a Dockerfile for ifm3d v0.93.0 and ifm3d-ros 1.0.1:

# ARG BASE_IMAGE
# ARG BASE_IMAGE_TAG

ARG IFM3D_CLONE_REPO=https://github.com/ifm/ifm3d
ARG IFM3D_ROS_CLONE_REPO=https://github.com/ifm/ifm3d-ros

# AMD64
# ARG BASE_IMAGE_TAG=noetic-perception
# ARG BASE_IMAGE=ros

# ARM64V8
ARG BASE_IMAGE_TAG=noetic-perception
ARG BASE_IMAGE=arm64v8/ros

FROM $BASE_IMAGE:$BASE_IMAGE_TAG AS build

ARG ROS_DISTRO=noetic
ARG LSB_RELEASE=focal
ARG CMAKE_VERSION=3.20.6
ARG IFM3D_TAG=tags/v0.93.0

# Create the ifm user
RUN id ifm 2>/dev/null || useradd --uid 30000 --create-home -s /bin/bash -U ifm
WORKDIR /home/ifm

ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y \
    git \
    jq \
    libcurl4-openssl-dev \
    libgtest-dev libgoogle-glog-dev  \
    libxmlrpc-c++8-dev \
    libproj-dev \
    build-essential \
    coreutils \
    cmake \
    ninja-build \
    wget \
    libssl-dev\
    libboost-all-dev

RUN apt-get clean

# Install cmake
RUN wget -O - "https://github.com/Kitware/CMake/releases/download/v${CMAKE_VERSION}/cmake-${CMAKE_VERSION}-linux-$(uname -i).tar.gz" \
    | tar -xz --strip-components=1 -C /usr


# clone and install ifm3d frmom tag
ARG IFM3D_CLONE_REPO

# | Flag name | Description | Default value |
# | --------- | ----------- | ------------- |
# | BUILD_MODULE_FRAMEGRABBER | Build the framegrabber module | ON |
# | BUILD_MODULE_STLIMAGE | Build the stl image module (Only relies on standard c++ libraries) | ON |
# | BUILD_MODULE_IMAGE **DEPRECATED**| Build the image module (Depends on OpenCV and PCL) | OFF |
# | BUILD_MODULE_OPENCV **DEPRECATED**| Build the OpenCV-only image container | OFF |
# | BUILD_MODULE_TOOLS | Build the command-line utility | ON |
# | BUILD_IN_DEPS | Download and build dependencies | ON |
# | BUILD_MODULE_PYBIND11 | Build the ifm3dpy python package (it can also be installed directly through `pip`) | OFF |
# | USE_LEGACY_COORDINATES | Use the legacy coordinates (ifm3d <= 0.92.x) with swapped axis | OFF |
# | BUILD_MODULE_SWUPDATER | Build the swupdater module | ON |
# | BUILD_SDK_PKG | Build install packages for development purposes | ON |
# | FORCE_OPENCV3 | Force the build to require OpenCV 3 | OFF |
# | FORCE_OPENCV2 | Force the build to require OpenCV 2.4 | OFF |
# | BUILD_SHARED_LIBS | Build modules as shared libraries | ON |
# | BUILD_EXAMPLES | Build the examples | OFF |
# | BUILD_DOC | Build documentation | OFF |
# | BUILD_TESTS | Build unit tests | ON
# | BUILD_MODULE_PCICCLIENT | Build the pcicclient module | OFF |

RUN cd /home/ifm/ \
    && git clone --branch v0.93.0 ${IFM3D_CLONE_REPO} ifm3d \
    && mkdir -p /home/ifm/ifm3d/build \
    && cd /home/ifm/ifm3d/build \
    && cmake -GNinja \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/install \
    -DBUILD_MODULE_OPENCV=OFF \
    -DBUILD_MODULE_STLIMAGE=ON \
    -DBUILD_MODULE_PCICCLIENT=ON \
    -DBUILD_MODULE_PYBIND11=OFF \
    -DBUILD_MODULE_TOOLS=ON\
    -DBUILD_MODULE_SWUPDATER=OFF\
    -DBUILD_SDK_PKG=ON\
    -DBUILD_EXAMPLES=OFF\
    -DBUILD_TESTS=OFF\
    .. \
    && cmake --build . \
    && cmake --build . --target install

RUN cp -r /install/* /usr

# Modify cmake to remove bug: reference to OpenCV in ifm3d v0.93.0
RUN sed -i.bak '22,44d' /usr/lib/cmake/ifm3d-0.93.0/ifm3d-config.cmake

# Initialize catkin workspace
RUN mkdir -p catkin_ws/ifm3d-ros/src
RUN /bin/bash -c 'cd catkin_ws/ifm3d-ros/src; . /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace'

# Clone and build ifm3d-ros repo
ARG IFM3D_ROS_CLONE_REPO
RUN cd /home/ifm/catkin_ws/ifm3d-ros/src && \
    git clone ${IFM3D_ROS_CLONE_REPO}

# build ROS messages first to make the build process more robust
RUN /bin/bash -c 'cd catkin_ws/ifm3d-ros; . /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make  --only-pkg-with-deps ifm3d_ros_msgs'
RUN /bin/bash -c 'cd catkin_ws/ifm3d-ros; . /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make  --only-pkg-with-deps ifm3d-ros'

# multistage and switch to bare ros image
ARG BASE_IMAGE
ARG BASE_IMAGE_TAG

FROM $BASE_IMAGE:$BASE_IMAGE_TAG

ARG DEBIAN_FRONTEND=noninteractive
COPY --from=build /install/ /usr/
COPY --from=build /home/ifm/catkin_ws/ /home/ifm/catkin_ws/

ARG ROS_DISTRO=noetic
ARG DEBIAN_FRONTEND=noninteractive

# Install runtime requirements
RUN apt-get update \
    && DEBIAN_FRONTEND=noninteractive apt-get install -y \
        libgoogle-glog0v5 \
        libxmlrpc-c++8v5 \
        locales \
        sudo \
    && rm -rf /var/lib/apt/lists/*


# install additional run dependencies of ifm3d-ros
RUN apt-get update && apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-nodelet \
    ros-${ROS_DISTRO}-tf2-ros \
    ros-${ROS_DISTRO}-robot=1.5.0-1* \
    ros-${ROS_DISTRO}-image-transport \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean && rm -rf /var/lib/apt/lists/*s \
    && apt-get autoremove -y

# Setup localisation
RUN echo "en_US.UTF-8 UTF-8" >> /etc/locale.gen && \
    locale-gen en_US.UTF-8 && \
    /usr/sbin/update-locale LANG=en_US.UTF-8

ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8

# Create the rosuser user
RUN id rosuser 2>/dev/null || useradd --uid 30000 --create-home -s /bin/bash -U rosuser
RUN echo "rosuser ALL=(ALL) NOPASSWD: ALL" | tee /etc/sudoers.d/rosuser

# USER rosuser
# COPY ./noetic/focal/ros_entrypoint.sh /
# # ENTRYPOINT [ "/ros-entrypoint.sh" ]

[tengraoshu126]

您好：
您上面提供的是在ros noetic版本也就是ubuntu20.04上的，我们恰巧也在noetic上测试过，确实是可以的；但现在是在Xavier ubuntu18.04 ros melodic上进行的测试，同样的操作过程，就没有编译过，我不确定ubuntu18.04支持还是不支持呢。

[desengph]

The ifm3d-ros node does not support ROS melodic and Ubuntu 18.04 since they are no longer supported under their respective LTS versions.

For a compatibility matrix, please see this the docs.

[tengraoshu126]

嗯嗯 好的 明白 多谢了

[lola-masson]

@tengraoshu126 note that the issue in your compilation process is that you have ifm3d 0.18.0 installed, and we require ifm3d 0.93.0 for ifm3d-ros 1.0.1.