SDK seems to be detached from rootfs, or How to package ROS 2?

SDK seems to be detached from rootfs, or How to package ROS 2?

[i shyneee]

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Hello!

In build systems I've seen SDK comprises separate host tools and sysroot. 
Isar chose the multiarch approach. So I'm asking you to clarify:
1) that I must put "*-dev" packages in SDK_PREINSTALL in order for them to 
be available to the cross-compiler;
2) that there is no detached "sysroot" format available.

I'm currently trying to install ROS 2 arm64 package to my SDK:
SDK_PREINSTALL += "\
    ros-lyrical-ros-base:${DISTRO_ARCH}"
The problem is that it depends on "python3-pytest:arm64". "python3-pytest" 
package has "Architecture: all" but not "Multi-Arch: foreign". So it is not 
available with ":arm64" postfix. I'm currently considering investigating 
two approaches:
1) fake packages with equivs;
2) self-packaging like in "siemens/isar-riscv".

Additional note:
The multiarch SDK approach also is also preventing me from
SDK_PREINSTALL += "\
    ros-lyrical-ros-base \
    ros-lyrical-ros-base:${DISTRO_ARCH}"
due to lack of proper multiarch support in ROS 2. 

So I can't use it as Docker rootfs container (I want it to carry ROS 2 for 
both architectures - one for host user, one for cross-compilation). I can 
just add the SDK to a directory in the container and call 
"./relocate_sdk.sh". But why do I have to carry the whole amd64 rootfs 
instead of aarch64 sysroot only?

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Re: SDK seems to be detached from rootfs, or How to package ROS 2?

[i shyneee]

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What also seems possible is to set HOST_ARCH=DISTRO_ARCH, and use the 
resulting SDK as sysroot for external cross compiler.

четверг, 16 июля 2026 г. в 11:10:51 UTC+3, i shyneee: 

> Hello!
>
> In build systems I've seen SDK comprises separate host tools and sysroot. 
> Isar chose the multiarch approach. So I'm asking you to clarify:
> 1) that I must put "*-dev" packages in SDK_PREINSTALL in order for them to 
> be available to the cross-compiler;
> 2) that there is no detached "sysroot" format available.
>
> I'm currently trying to install ROS 2 arm64 package to my SDK:
> SDK_PREINSTALL += "\
>     ros-lyrical-ros-base:${DISTRO_ARCH}"
> The problem is that it depends on "python3-pytest:arm64". "python3-pytest" 
> package has "Architecture: all" but not "Multi-Arch: foreign". So it is 
> not available with ":arm64" postfix. I'm currently considering 
> investigating two approaches:
> 1) fake packages with equivs;
> 2) self-packaging like in "siemens/isar-riscv".
>
> Additional note:
> The multiarch SDK approach also is also preventing me from
> SDK_PREINSTALL += "\
>     ros-lyrical-ros-base \
>     ros-lyrical-ros-base:${DISTRO_ARCH}"
> due to lack of proper multiarch support in ROS 2. 
>
> So I can't use it as Docker rootfs container (I want it to carry ROS 2 for 
> both architectures - one for host user, one for cross-compilation). I can 
> just add the SDK to a directory in the container and call 
> "./relocate_sdk.sh". But why do I have to carry the whole amd64 rootfs 
> instead of aarch64 sysroot only?
>

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