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QEMU ARM 32-bit

Building

Create container:

podman run -it --rm \
    --network=host \
    --userns="keep-id:uid=1000,gid=1000" \
    -v ${PWD}/project:${PWD}/project:rw \
    --workdir ${PWD}/project/yocto \
    --security-opt label=disable \
    localhost/extra2000/yocto-toolkit:latest \
    bash
source layers/poky/oe-init-build-env build

Check dependencies:

bitbake -p mc:qemuarm:ros2-image

Build:

bitbake mc:qemuarm:ros2-image

To build SDK and extract into [PROJECT_ROOT]/project/yocto/build/sdk-qemuarm directory:

bitbake mc:qemuarm:ros2-image -c populate_sdk
./tmp-glibc/deploy/sdk/oecore-x86_64-cortexa15t2hf-neon-toolchain-nodistro.0.sh -d sdk-qemuarm

Replace FIXMESTAGINGDIRHOST with project/yocto/build/sdk-qemuarm/sysroots in all cmake files in the sdk-qemuarm:

find sdk-qemuarm -type f -name *.cmake -print0 | xargs -0 sed -i 's,FIXMESTAGINGDIRHOST,'"$(readlink -f sdk-qemuarm/sysroots/x86_64-oesdk-linux)"',g'

Testing

The following runqemu commands should be executed using yocto-toolkit Podman container.

To start QEMU with SELinux enforcing, use the following runqemu command:

runqemu \
    qemuarm \
    slirp \
    nographic \
    qemuparams="-m 512 -net nic -net user,hostfwd=tcp:127.0.0.1:1534-:1534,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:2345-:2345"

To start QEMU with SELinux permissive, use the following runqemu command:

runqemu \
    qemuarm \
    slirp \
    nographic \
    qemuparams="-m 512 -net nic -net user,hostfwd=tcp:127.0.0.1:1534-:1534,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:2345-:2345" \
    bootparams="selinux=1 enforcing=0"

NOTE: If the port forwarding doesn't work, try shutdown QEMU, respawn the yocto-toolkit Podman container, and re-execute the same runqemu command again.

Login as yocto user with password yocto. Then follow testing instructions in Testing.

Cross-Compiling C++ Applications

Open a new terminal and execute the following command (without using Podman):

source project/yocto/build/sdk-qemuarm/environment-setup-cortexa15t2hf-neon-oe-linux-gnueabi
cd project/yocto/layers/meta-user/recipes-apps/datastruct-cpp/files
mkdir -pv build
cd build
cmake \
    -G "Eclipse CDT4 - Unix Makefiles" \
    -DCMAKE_BUILD_TYPE=Debug \
    ../datastruct-cpp
make -j $(($(nproc) -1))

Execute the following command to upload to QEMU and execute the binary:

scp -P 22222 ./ds-helloworld-cpp yocto@127.0.0.1:
ssh -p 22222 yocto@127.0.0.1
./ds-helloworld-cpp

To cleanup the datastruct-cpp project:

cd ..
rm -rf ./build/

Cross-Compiling ROS2 C++ Applications

Open a new terminal and execute the following command (without using Podman):

source project/yocto/build/sdk-qemuarm/environment-setup-cortexa15t2hf-neon-oe-linux-gnueabi
source project/yocto/build/sdk-qemuarm/sysroots/x86_64-oesdk-linux/etc/profile.d/ros/setup.bash
cd project/yocto/layers/meta-user/recipes-apps/ros2-helloworld-cpp/files/ros2-helloworld-cpp/
colcon \
    --log-base ../log \
    build \
    --build-base ../build \
    --install-base ../install \
    --cmake-args \
    -G "Eclipse CDT4 - Unix Makefiles" \
    -DPython3_FIND_STRATEGY=LOCATION \
    -DBUILD_TESTING=OFF

Within the yocto-toolkit Podman container, start QEMU using the following command:

runqemu \
    qemuarm \
    slirp \
    nographic \
    qemuparams="-m 512 -net nic -net user,hostfwd=tcp:127.0.0.1:1534-:1534,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:2345-:2345" \
    bootparams="selinux=1 enforcing=0"

From host, execute the following command to upload to QEMU and execute the binary:

scp -P 22222 ../install/ros2-helloworld-cpp/lib/ros2-helloworld-cpp/main yocto@127.0.0.1:
ssh -p 22222 yocto@127.0.0.1
./main

To cleanup the ros2-helloworld-cpp project:

rm -rf ../build/ ../install/ ../log/