It's a toolchain to setup ros2 cross compiling.
Please check if your host ubuntu version is the same as your target ubuntu version. Then, modify the distribution_version definition in tools/sysroot-rpi-ubuntu-arm64.toml to your ubuntu version as follows.
distribution_version = "jammy"
- create a sysroot by tools/create-sysroot.sh.
- move tools/{cc.sh,generic-linux.cmake} to ros2 workspace.
- setup multi-arch to add arm64 architecture to your host and this work is finished by tools/multi-arch/setup.sh. setup.sh not only setup the arm64 architecture to your host but also install libpython3.10-dev:arm64 which is needed by cross compiling. After setup the multi-arch, you can add more needed libraries by
sudo apt install [libpackage]:arm64. - modify SYSROOT environment to yours.
- run cc.sh to cross compile your ros2 workspace.
- copy install.tar.gz to your target.
NOTE: you can use your target sysroot by sshfs, e.g.,
sshfs [user]@[host]:/ sysroot