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[67.231.148.11]) by gmr-mx.google.com with ESMTPS id d6si628350plo.3.2021.02.20.13.31.38 for (version=TLS1_2 cipher=ECDHE-RSA-AES128-GCM-SHA256 bits=128/128); Sat, 20 Feb 2021 13:31:38 -0800 (PST) Received-SPF: pass (google.com: domain of dama@universal-robots.com designates 67.231.148.11 as permitted sender) client-ip=67.231.148.11; Authentication-Results: gmr-mx.google.com; spf=pass (google.com: domain of dama@universal-robots.com designates 67.231.148.11 as permitted sender) smtp.mailfrom=dama@universal-robots.com; dmarc=pass (p=NONE sp=NONE dis=NONE) header.from=universal-robots.com Received: from pps.filterd (m0043669.ppops.net [127.0.0.1]) by mx0a-0015db01.pphosted.com (8.16.0.43/8.16.0.43) with SMTP id 11KLVb8r008092 for ; Sat, 20 Feb 2021 16:31:37 -0500 Authentication-Results: teradyne.com; spf=pass smtp.mailfrom=dama@universal-robots.com Received: from mail.universal-robots.com (mail.universal-robots.com [87.50.110.154]) by mx0a-0015db01.pphosted.com with ESMTP id 36tvvv0ey6-1 (version=TLSv1.2 cipher=ECDHE-RSA-AES256-GCM-SHA384 bits=256 verify=OK) for ; Sat, 20 Feb 2021 16:31:37 -0500 Received: from UR-PVW-EXCH01.unirobotts.local (10.234.32.16) by UR-PVW-EXCH01.unirobotts.local (10.234.32.16) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.1.2176.2; Sat, 20 Feb 2021 22:31:34 +0100 Received: from UR-PVW-EXCH01.unirobotts.local ([fe80::c179:eb73:a7cc:7366]) by UR-PVW-EXCH01.unirobotts.local ([fe80::c179:eb73:a7cc:7366%6]) with mapi id 15.01.2176.002; Sat, 20 Feb 2021 22:31:34 +0100 From: Daniel Machon To: "isar-users@googlegroups.com" Subject: Relocation of SDK Thread-Topic: Relocation of SDK Thread-Index: AdcHzl/grljuywyUSLKLNJENMaNroA== Date: Sat, 20 Feb 2021 21:31:34 +0000 Message-ID: Accept-Language: da-DK, en-US Content-Language: en-US X-MS-Has-Attach: yes X-MS-TNEF-Correlator: x-originating-ip: [10.234.32.103] x-c2processedorg: c38ca319-04fc-491c-ab2c-8eabe3310c15 Content-Type: multipart/related; boundary="_004_febaf55bc1d644deb4bab63c331910cbuniversalrobotscom_"; type="multipart/alternative" MIME-Version: 1.0 X-Proofpoint-SPF-Result: pass X-Proofpoint-SPF-Record: v=spf1 a a:mail.universal-robots.com mx ip4:34.215.113.156 ip4:94.137.142.97 ip4:216.146.32.161 ip4:216.146.32.185 ip4:216.146.32.186 ip4:216.146.32.187 ip4:216.146.32.188 ip4:81.93.164.103 ip4:81.93.173.201 ip4:92.62.195.66 ip4:89.221.162.141 ip4:185.21.42.165 ip4:82.199.95.7 ip4:52.166.165.115 ip4:52.232.121.147 ip4:52.232.124.185 ip4:52.232.123.131 ip4:83.149.98.65 ip4:52.166.178.208 ip4:40.68.36.243 include:servers.mcsv.net include:2631781.spf07.hubspotemail.net include:spf.mandrillapp.com include:spf.protection.outlook.com include:spf-0015db01.pphosted.com -all X-Proofpoint-Spam-Details: rule=outbound_policy_notspam policy=outbound_policy score=0 phishscore=0 priorityscore=1501 impostorscore=0 clxscore=1015 mlxscore=0 malwarescore=0 adultscore=0 suspectscore=0 mlxlogscore=528 lowpriorityscore=0 spamscore=0 bulkscore=0 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.12.0-2009150000 definitions=main-2102200199 X-TUID: ank8qByWr0hq --_004_febaf55bc1d644deb4bab63c331910cbuniversalrobotscom_ Content-Type: multipart/alternative; boundary="_000_febaf55bc1d644deb4bab63c331910cbuniversalrobotscom_" --_000_febaf55bc1d644deb4bab63c331910cbuniversalrobotscom_ Content-Type: text/plain; charset="us-ascii" Content-Transfer-Encoding: quoted-printable Hi, I have been working with the SDK lately, and came across a rather unfortuna= te side-effect of the relocation of the SDK. When the SDK is relocated, the interpreter and the RPATH of *ALL* the binar= ies are changed to that of the host system. This means that a developer can= not longer chroot into the SDK. I would argue, that a common development workflow would be to use the cross= -toolchain provided by the SDK, and then chroot into the SDK to install dep= endencies (we have the possibility of installing multiarch packages). This = is currently not possible, because the interpreter and the RPATH is change = for all the binaries of the SDK. Why not only change the interpreter and RPATH of the cross-toolchain binari= es? These are the binaries that are meant to be run on the host anyway. If you need to change the RPATH of any libraries (I came across this need w= hen trying to make gdb available to the host), you can make RPATH relative = using $ORIGIN. Best regards, Daniel Med venlig hilsen / Best regards Daniel Machon Embedded Linux Engineer R&D Department [cid:UR_New_Logo_266cf885-8c99-4fe9-bae0-ff88fedf0005.png] Universal Robots A/S Energivej 25 5260 Odense S Phone: +45 89 93 89 89 Cell: +45 27 99 72 32 dama@universal-robots.com www.universal-robots.com Please note that this message may contain confidential information. If you = have received this message by mistake, please inform the sender of the mist= ake, then delete the message from your system without making, distributing = or retaining any copies of it. Although we believe that the message and any= attachments are free from viruses and other errors that might affect the c= omputer or IT system where it is received and read, the recipient opens the= message at his or her own risk. We assume no responsibility for any loss o= r damage arising from the receipt or use of this message. If Universal Robots A/S processes personal data relating to physical person= s, such processing will meet the requirements of applicable data protection= legislation.Please see our Privacy Policy here. --_000_febaf55bc1d644deb4bab63c331910cbuniversalrobotscom_ Content-Type: text/html; charset="us-ascii" Content-Transfer-Encoding: quoted-printable

Hi,

 

I have been working with the SD= K lately, and came across a rather unfortunate side-effect of the relocatio= n of the SDK.

 

When the SDK is relocated, the = interpreter and the RPATH of *ALL* the binaries are changed to that = of the host system. This means that a developer can not longer chroot into = the SDK.

 

I would argue, that a common de= velopment workflow would be to use the cross-toolchain provided by the SDK,= and then chroot into the SDK to install dependencies (we have the possibil= ity of installing multiarch packages). This is currently not possible, because the interpreter and the RPATH is c= hange for all the binaries of the SDK.

 

Why not only change the interpr= eter and RPATH of the cross-toolchain binaries? These are the binaries that= are meant to be run on the host anyway.

If you need to change the RPATH= of any libraries (I came across this need when trying to make gdb availabl= e to the host), you can make RPATH relative using $ORIGIN.

 

Best regards,=

Daniel


Med venlig hilsen / Best regards

Daniel Machon
Embedded Linux Engineer
R&D Department

Universal Robots = A/S
Energivej 25
5260 Odense S

Phone: +45 89 93 89 89
Cell: +45 27 99 72 32

dama@universal-robots.com<= br> www.universal-robots.com

 


Please note that this message may contain confidential information. If you = have received this message by mistake, please inform the sender of the mist= ake, then delete the message from your system without making, distributing = or retaining any copies of it. Although we believe that the message and any attachments are free from viruses and = other errors that might affect the computer or IT system where it is receiv= ed and read, the recipient opens the message at his or her own risk. We ass= ume no responsibility for any loss or damage arising from the receipt or use of this message.

If Universal Robots A/S processes personal data relating to physical person= s, such processing will meet the requirements of applicable data protection= legislation.Please see our Privacy Policy here.

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