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Humble arm compatability #224

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merged 4 commits into from
May 8, 2024
Merged

Humble arm compatability #224

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1f06cee
Added explicit std_srvs dependency
afrye51 May 2, 2024
dc94636
Arm shared object library
afrye51 May 2, 2024
59f58a9
Updated cmake to build for both x86 and arm without a manual update
afrye51 May 6, 2024
6382048
Removing unnecessary include in j2735 convertor
afrye51 May 6, 2024
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1 change: 0 additions & 1 deletion carma-messenger-core/j2735_convertor/include/j2735_convertor/j2735_convertor_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,6 @@
#include <rclcpp/rclcpp.hpp>
#include <functional>
#include <std_msgs/msg/string.hpp>
#include <std_srvs/srv/empty.hpp>

#include <carma_ros2_utils/carma_lifecycle_node.hpp>

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12 changes: 8 additions & 4 deletions carma-messenger-core/lib_asn1c/CMakeLists.txt
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Expand Up @@ -33,21 +33,25 @@ if(${ROS_VERSION} EQUAL 1) # ROS 1

catkin_package()

if(CMAKE_SIZEOF_VOID_P EQUAL 8)
if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
install(FILES third_party_lib/libasn1c_x64.so DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RENAME libasn1c.so)
elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "i386")
install(FILES third_party_lib/libasn1c_x86.so DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RENAME libasn1c.so)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64" OR CMAKE_SYSTEM_PROCESSOR MATCHES "arm")
install(FILES third_party_lib/libasn1c_arm64.so DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RENAME libasn1c.so)
endif()

else() # ROS2

find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()

if(CMAKE_SIZEOF_VOID_P EQUAL 8)
if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
install(FILES third_party_lib/libasn1c_x64.so DESTINATION lib RENAME libasn1c.so)
elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "i386")
install(FILES third_party_lib/libasn1c_x86.so DESTINATION lib RENAME libasn1c.so)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64" OR CMAKE_SYSTEM_PROCESSOR MATCHES "arm")
install(FILES third_party_lib/libasn1c_arm64.so DESTINATION lib RENAME libasn1c.so)
endif()

ament_auto_package()
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Binary file added carma-messenger-core/lib_asn1c/third_party_lib/libasn1c_arm64.so
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6 changes: 5 additions & 1 deletion carma-messenger-core/lib_asn1c/third_party_lib/libasn1c_update.txt
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Expand Up @@ -37,4 +37,8 @@ Note: In order to use m32 flag, you should have the package libc6-dev-i386 ready

Copy the new generated shared libraries in your Workspace.

Paste and replace the old libraries in this folder.
Paste and replace the old libraries in this folder.

## To build on ARM, follow the same instructions but for the final build only run:

gcc -DPDU=MessageFrame -shared -o libasn1c_arm64.so -I./include/ ./src/*.c -fPIC
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