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Github android ndk samples how to#
Github android ndk samples Patch#
Github android ndk samples android#

The patched version of pluginlib does not load shared objects in the filesystem dynamically during runtime all the plugins should be linked to your own shared libraries or applications at compile time, ensuring that the required symbols are not stripped by the linker. Unlike regular ROS development under Linux, plugins are compiled as static libraries and linked to other libraries or applications that make use of them. Debug and verbose flags are recommended while developing. Where /path/to/workspace is the root directory of the cross compiled packages and libraries in the installation step. Then, it can be built with the standalone script like this:īuild_catkin_workspace.sh -w /path/to/your/workspace -p /path/to/install_space -e /path/to/workspace -b Debug -v 1 Once your project is ready to be built, place it inside a catkin workspace (i.e. Note that the way of finding and adding packages as dependencies should be just as in any regular Catkin project.

Finally, write your bottom level CMakeLists file.

Note that this approach doesn't allow building multi-target APKs the ABI is fixed in config.sh and the ABI filter in the Gradle buildscript should match it. Then, specify the path to the bottom level CMakeLists file as in here.

In the bottom level gradle buildscript, add the necessary arguments to the externalNativeBuild block, and specify ABI filters as in here.

A package.xml has to be created, declaring Catkin and rosjava_buid_tools as build tools, and the ROS dependencies.

Github android ndk samples android#

Your code should have the structure of a ROS Android package, with a top level CMakeLists to make Gradle interact with Catkin.

Here's some guidelines to take into account when creating new projects, using hello_world app as an example: The examples under example_workspace can be used as a starting point and as a reference to build your code in short they are Gradle projects wrapped as Catkin packages. Making use of the ROS cross compiled libraries and system dependencies.

You can use build_catkin_workspace as a standalone script to build your Android application or library as a catkin package, Using verbose flags when building should help finding hints about the problems that may arise.īuilding your own apps and libraries on top of ROS cross-compiled workspace

That's it! Test your build and watch out build errors.

According to the library, it may be necessary to use build_library script or adding a special rule to build_library_with_toolchain.

If it's a system dependency, add a build rule to install.sh.

Github android ndk samples Patch#

Add a patch if necessary to patches directory.

Add the package to ros.rosinstall or system_deps.rosinstall use existing packages as an example.

The following steps should serve as a guide when adding new packages or dependencies: In some other cases, the codebases use dependencies that are not available on Android, or it just doesn't make sense to use them In some cases, CMake scripts are not ready forĬross compilation as they tend to look for dependencies in standard paths, or they don't properly expose transitive dependencies. There are multiple sources of problems when cross compiling.

Github android ndk samples how to#

Specific instructions about how to use the samples are located inside: files/name_of_the_sample_app/README.md Adding new packages or dependenciesĪdding new packages may not be as straightforward as adding a new line in a list. You can find the resulting apks inside /path/to/workspace/target/apks/name_of_the_sample_app/apk_file.