Cross-compile Player/Stage for the ARM architecture (E-Puck)

Although the example given refers to an ARM based embedded system running Linux on an E-Puck robot, the procedure should be similar for any robot platform. As long as the target architecture is an ARM processor running Linux of course.

Important things to consider when compiling player for the E-Puck:

• install the Embedian Armel cross-compiler + libraries (see above)
• download the library "libtool" (works at least up to libtool 2.4 incl. libltdl 7.3 on the E-Puck) and install using "configure" as described above. NOTE it is important to put the libraries into the tool-chains "lib" folder!
• download and install the "boost" library (recommended version: boost 1.34.1) (http://goodliffe.blogspot.com/2008/05/cross-compiling-boost.html)

FIRST: convince the "boost" build system to use your cross-compiler:

cd ./boost_1_34_1/tools/jam/src
./build.sh
cp bin.linux/bjam .
export PATH=/boost_1_34_1/tools/jam/src:$PATH
cd ../../../
add the following line to "./tools/v2/user-config.jam"
using gcc : 4.3 : /usr/bin/arm-linux-gnueabi-g++ ;


NOTE this does NOT work using "configure", instead use:

bjam -d2 --toolset=gcc '-sBUILD=release static multi/single' link=static --prefix=/usr/arm-linux-gnueabi --layout=system --with-thread --with-signals --with-filesystem install
bjam -d2 --toolset=gcc '-sBUILD=release static multi/single' --prefix=/usr/arm-linux-gnueabi --layout=system --with-thread --with-signals --with-filesystem install

to create both, static and dynamically linked libraries.

Finally, you can compile "player" as described above, although tell "configure" to use the cross-compiler!