CROSS COMPILING ERROR IN ARM64

[Moxoo]

@lassilaiho help!
I try to cross compling rclgo in docker container use image osrf/ros:humble-desktop (on my x86 linux) , but got this:

GOOS=linux GOARCH=arm64 go build -o bin/test_cross main.go

# github.com/tiiuae/rclgo/pkg/rclgo
/root/go/pkg/mod/github.com/tiiuae/rclgo@v0.0.0-20240131135202-56b24e11219b/pkg/rclgo/goalstatus_string.go:11:8: undefined: GoalUnknown
/root/go/pkg/mod/github.com/tiiuae/rclgo@v0.0.0-20240131135202-56b24e11219b/pkg/rclgo/goalstatus_string.go:12:8: undefined: GoalAccepted
/root/go/pkg/mod/github.com/tiiuae/rclgo@v0.0.0-20240131135202-56b24e11219b/pkg/rclgo/goalstatus_string.go:13:8: undefined: GoalExecuting
/root/go/pkg/mod/github.com/tiiuae/rclgo@v0.0.0-20240131135202-56b24e11219b/pkg/rclgo/goalstatus_string.go:14:8: undefined: GoalCanceling
/root/go/pkg/mod/github.com/tiiuae/rclgo@v0.0.0-20240131135202-56b24e11219b/pkg/rclgo/goalstatus_string.go:15:8: undefined: GoalSucceeded
/root/go/pkg/mod/github.com/tiiuae/rclgo@v0.0.0-20240131135202-56b24e11219b/pkg/rclgo/goalstatus_string.go:16:8: undefined: GoalCanceled
/root/go/pkg/mod/github.com/tiiuae/rclgo@v0.0.0-20240131135202-56b24e11219b/pkg/rclgo/goalstatus_string.go:17:8: undefined: GoalAborted
/root/go/pkg/mod/github.com/tiiuae/rclgo@v0.0.0-20240131135202-56b24e11219b/pkg/rclgo/goalstatus_string.go:24:9: undefined: GoalStatus
/root/go/pkg/mod/github.com/tiiuae/rclgo@v0.0.0-20240131135202-56b24e11219b/pkg/rclgo/goalstatus_string.go:25:19: undefined: GoalStatus
make: *** [Makefile:16: arm64] Error 1

[Moxoo]

The test code is this:

package main

import (
	"fmt"
	"os"

	"github.com/tiiuae/rclgo/pkg/rclgo"
)

func main() {
	Run()
}

func Run() {
	rclArgs, _, err := rclgo.ParseArgs(os.Args[1:])
	if err != nil {
		fmt.Printf("failed to parse ROS args: %v", err)
	}
	if err := rclgo.Init(rclArgs); err != nil {
		fmt.Printf("failed to initialize rclgo: %v", err)
	} else {
		fmt.Println("success ros")
	}
	defer rclgo.Uninit()
	_, err = rclgo.NewNode("greeter", "")
	if err != nil {
		fmt.Printf("failed to create node: %v", err)
	}
	for {
		select {}
	}
}

**build this main in x86, it works

[Moxoo]

I tried adding "CGO_ENABLED=1" when cross-compiling, but it still didn't work because ros2 arm-version library is also needed.

Finally, I successfully compiled rclgo in the Arm64 container containing the ROS2 environment, although running the arm container on the x86 host requires qemu support.

Ugly but works, so I still hope you can provide an elegant solution later.

[dp1140a]

Can you post an example of your command line to build and run? I would love to be able to write and run on a rasperryPi