Compiling for ARM (Odroid U2)

[krsapkota]

I get this error while I try to compile the libraries on my ubuntu linaro.

Error: bad instruction `bswap r4'

I am compiling natively. I had a similar problem on RaspberryPi so I switched to Odroid U2 but the problem persists.

Any help would be highly appreciated!

Thanks

[mani-monaj]

I get this error while I try to compile the libraries on my ubuntu linaro.

You mean compiling the SDK?

[krsapkota]

yes, while building sdk.

[mani-monaj]

The Parrot SDK consists of lots of libraries, either written by Parrot for multi-platform networking and thread management or 3rd parties like FFMPEG. The build system is also optimized for each platform independently using appropriate compile flags. In my opinion it is not straight forward to make the Makefiles compatible with ARM. Extra effort may also needed to change some header files.

If you just need basic functionalities, I would suggest to take a look at NodeCopter project which is a lightweight implementation of the SDK in JavaScript. You may also be able to bridge that with ROS using Ros Bridge.

[krsapkota]

Ok finally fixed the problem with some minor hack, found out that assembler instruction "bswap" does not exist on ARM. So in ardrone_autonomy / ARDroneLib / VP_SDK / VP_Os / linux / intrin.h I replaced _byteswap_ulong for TARGET_CPU_X86 with the same function for TARGET_CPU_ARM (else part) and commented out _BitScanReverse. Now it compiles like a charm and I am running it on odroid (armv7l).

[mani-monaj]

@krsapkota That is really interesting. Are you interested to contribute the ARM Compiling Guide on this project's wiki?

[krsapkota]

Ya sure! But the problem is i am just done with my internship and i don't have any arm machine with me right now. Probably I should get a RaspberryPi.

[mtourne]

Hello,
I encountered the same problem on the same platform (Odroid U2 / armv7)

It seems that automatically when using USE_LINUX=yes then TARGET_CPU_X86=1

Here is the quick & dirty patch I made on the build system : https://gist.github.com/mtourne/7258641

I also had trouble compiling VLIB, I'm now using the arm11 (VLIB/Platform/arm11) code which seems to have no platform specific code in it.

I'm not yet sure the video acquisition will work and at what fps, I'll keep you posted.

I followed this suggestion:

"Ok finally fixed the problem with some minor hack, found out that assembler instruction "bswap" does not exist on ARM. So in ardrone_autonomy / ARDroneLib / VP_SDK / VP_Os / linux / intrin.h I replaced byteswapulong for TARGET_CPU_X86 with the same function for TARGET_CPU_ARM (else part) and commented out _BitScanReverse. Now it compiles like a charm and I am running it on odroid (armv7l)."

However I got the following error:
ld common/mobile_main
/usr/bin/ld: ../../Soft/Build/targets_versions/ffmpeg_static_PROD_MODE_Linux_3.8.13.14_GNU_Linux_usrbingcc_4.6.4/libavcodec.a(mpegvideo_enc.o): undefined reference to symbol 'lrintf@@GLIBC_2.4'
/lib/arm-linux-gnueabihf/libm.so.6: error adding symbols: DSO missing from command line
collect2: ld returned 1 exit status

My gcc version is 4.6.4 and I am using Xubuntu 13.10 odroid u2

[krsapkota]

Make sure that you do not have conflicting ffmpeg libraries. I suggest
uninstalling all ffmpeg stuff and rebuilding the sdk because before you
build the sdk, the script (build_sdk.sh) builds and installs ffmpeg anyway
and this ffmpeg is compatible with ardone_autonomy.

On Sun, Feb 2, 2014 at 4:51 AM, Tyler Zhu notifications@github.com wrote:

I followed this suggestion:

"Ok finally fixed the problem with some minor hack, found out that
assembler instruction "bswap" does not exist on ARM. So in ardrone_autonomy
/ ARDroneLib / VP_SDK / VP_Os / linux / intrin.h I replaced byteswapulong
for TARGET_CPU_X86 with the same function for TARGET_CPU_ARM (else part)
and commented out _BitScanReverse. Now it compiles like a charm and I am
running it on odroid (armv7l)."

However I got the following error:
ld common/mobile_main
/usr/bin/ld:
../../Soft/Build/targets_versions/ffmpeg_static_PROD_MODE_Linux_3.8.13.14_GNU_Linux_usrbingcc_4.6.4/libavcodec.a(mpegvideo_enc.o):
undefined reference to symbol 'lrintf@@GLIBC_2.4'
/lib/arm-linux-gnueabihf/libm.so.6: error adding symbols: DSO missing from
command line
collect2: ld returned 1 exit status

My gcc version is 4.6.4 and I am using Xubuntu 13.10 odroid u2

Reply to this email directly or view it on GitHubhttps://github.com//issues/71#issuecomment-33891333
.

Thank you so much. I tried it for a week. I removed both ffmpeg and ffmpeg-odroid and try to compile it. Still failed.

Currently I use Xubuntu 13.10 on Odroid U2. What's your operating system?

Best regards,
Tyler

[infdsc02]

Hi:

Someone tried to install ardrone_autonomy for ROS Hydro version on a ARM device? Because is very different to the Fuerte version that uses mtourne.

Best regards.

P.D: Sorry by my English.

[heechul]

I was just able to compile/run the ardrone driver from the indigo-devel branch on an ARM platform (Tegra TK1) using @mtourne 's patch (after some modifications). Here's what I did.

the git branch is cloned at ~/Projects/catkin_ws/src/ardrone_autonomy
0) cd ~/Projects/catkin_ws/catkin_make
...fail on building ardronlib

1. cd ~/Projects/catkin_ws/build/ardrone/src/ardronelib
2. manually apply the patch https://gist.github.com/mtourne/7258641
3. modify catkin_ws/build/ardrone_autonomy/CMakeFiles/ardronelib.dir/build.make as follow to prevent issuing git update (It would nullify changes in step2. There must be a better way to fix this, but I'm not very familiar with the ROS build system.)

   ardrone/src/ardronelib-stamp/ardronelib-update: ardrone/src/ardronelib-stamp/ardronelib-download
        $(CMAKE_COMMAND) -E cmake_progress_report ...
        # @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue  --bold "Performing update step for 'ardronelib'" 
        # cd  /home/heechul/Projects/catkin_ws/build/ardrone/src/ardronelib &&  /usr/bin/cmake -P  /home/heechul/Projects/catkin_ws/build/ardrone/tmp/ardronelib-gitupdate.cmake

4. catkin_make

The driver seems to run fine on the Tegra K1, but it's cpu consumption is quite high (80% of one core).

Now, I tried to compile http://wiki.ros.org/tum_ardrone on the Tegra K1, but failed. Here's the log. Any suggestions for fixes will be welcome.

catkin_make
...
configure: creating ./config.status
config.status: creating Makefile
config.status: creating gvars3/config.h
config.status: gvars3/config.h is unchanged
/usr/bin/ld: src/gvars3.o: relocation R_ARM_THM_MOVW_ABS_NC against `a local symbol' can not be used when making a s
hared object; recompile with -fPIC
src/gvars3.o: error adding symbols: Bad value
collect2: error: ld returned 1 exit status
make[5]: *** [libGVars3.so] Error 1
make[4]: *** [gvars_built] Error 2
make[3]: *** [all] Error 2
make[2]: *** [thirdparty/src/thirdparty-stamp/thirdparty-build] Error 2
make[1]: *** [tum_ardrone/CMakeFiles/thirdparty.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
./configure: 3152: test: linux: unexpected operator
source path               /home/heechul/Projects/catkin_ws/build/ardrone/src/ardronelib/ARDroneLib/FFMPEG/ffmpeg
C compiler                gcc
ARCH                      arm (generic)
big-endian                no
runtime cpu detection     no
ARMv5TE enabled           yes
ARMv6 enabled             yes
ARMv6T2 enabled           yes
ARM VFP enabled           yes
IWMMXT enabled            no
NEON enabled              no     <--- why?
...
Building ARDroneTool/Lib
dep Platform/x86/UVLC/uvlc_codec.c
dep Platform/x86/video_utils.c
...
cc video_codec.c
cc video_controller.c
cc video_mem32.c
/tmp/ccLzql7h.s: Assembler messages:
/tmp/ccLzql7h.s:80: Error: bad instruction `bswap r4'
make[8]: *** [../../Soft/Build/targets_versions/vlib_PROD_MODE_Linux_3.10.24-g2210df4_GNU_Linux_usrbingcc_4.8.2/video_mem32.o] Error 1
make[7]: *** [all] Error 2
make[6]: *** [build_vlib] Error 2
make[5]: *** [all] Error 2
make[4]: *** [build_libs] Error 2
make[3]: *** [all] Error 2
make[2]: *** [ardrone/src/ardronelib-stamp/ardronelib-build] Error 2
make[1]: *** [ardrone_autonomy/CMakeFiles/ardronelib.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed

Thanks

[infdsc02]

Hi:

In your CMakeList.txt change:

GIT_REPOSITORY git://github.com/AutonomyLab/ardronelib.git

by:

GIT_REPOSITORY https://github.com/infdsc02/ardronelib.git

and then delete:

GIT_TAG bdacd1cbd3fbc54263d29e6e2067265e5941d10e

Then try again to compile.

[mani-monaj]

@infdsc02 @heechul @mtourne

If you've found a stable solution, please let me know so we can work to merge your patches into ardronelib.