Cross-build Non-ROS 2 Applications

The cross-compilation environment provided by the Renesas RDK Docker image can also be used to build non-ROS 2 applications for the RZ/V2H RDK platform.

This section describes how to cross-compile a generic CMake-based application using the provided toolchain.

Prerequisites

Complete the Cross compilation environment setup section.
Make sure the Docker container is running and accessible.

Setting up the Environment

Start and access the Docker container:

docker exec -it ros2_cross_build_container bash

(Optional) Connect to the Docker container from VS Code using the Remote - Containers extension for a better development experience.

Refer to the Cross compilation environment setup section for instructions on how to connect to the Docker container from VS Code.

Install Dependencies into the Sysroot

Before building the application, install any required libraries into the ARM64 sysroot using rzv2h-chroot.

For example, to install common development libraries:

rzv2h-chroot apt update
rzv2h-chroot apt install -y <package-name>

Important

The rzv2h-chroot command already runs with sudo privileges. Do not add sudo to commands executed with rzv2h-chroot.

For more details on rzv2h-chroot, refer to the Cross compilation usage guide.

Build the Application

For CMake-based projects, use the cross-compilation toolchain file provided in the Docker container.

Navigate to your project directory:
```
cd /path/to/your/project
```
Create a build directory and configure with CMake:
```
mkdir build && cd build

cmake .. -DCMAKE_TOOLCHAIN_FILE=$TOOLCHAINS_WS/cross.cmake \
         -DCMAKE_BUILD_TYPE=Release
```
The $TOOLCHAINS_WS/cross.cmake toolchain file configures the compiler and sysroot for cross-compilation targeting ARM64.
Build the project:
```
make -j$(nproc)
```
The resulting ARM64 binaries are ready to be deployed to the RZ/V2H RDK.

Deploy to Target

Copy the built binaries to the RZ/V2H RDK using scp or another file transfer method.

scp ./your_application ubuntu@<TARGET_IP>:/home/ubuntu/

Replace <TARGET_IP> with the IP address of your RZ/V2H RDK board.