Cross compilation support & linking

[tervay-bdai]

Hi, thanks all for the great work on this. Attempting to get ROS2 to cross-compile to ARM64 with Drake's ROS bazel rules and grailbio's toolchain rules. I'm pointing it to a sysroot that has ROS ARM64 .so files.

Unfortunately, attempting to build a simple hello world tries to link x86 .so libraries despite it trying to compile for ARM64:

 "external/llvm_toolchain_llvm/bin/ld.lld" --sysroot=external/arm64_debian_rootfs -EL -z relro --hash-style=gnu --eh-frame-hdr -m aarch64linux -dynamic-linker /lib/ld-linux-aarch64.so.1 -o bazel-out/k8-opt-pi/bin/src/hello_world_cpp_ros2/_hello_world_noshim external/arm64_debian_rootfs/lib/aarch64-linux-gnu/crt1.o external/arm64_debian_rootfs/lib/aarch64-linux-gnu/crti.o external/arm64_debian_rootfs/lib/gcc/aarch64-linux-gnu/11/crtbegin.o -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crclcpp_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Cstd_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crcl_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crcl_Ulogging_Uspdlog_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crcl_Ulogging_Uinterface_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crmw_Uimplementation_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Cament_Uindex_Ucpp_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crcl_Uinterfaces_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crcl_Uyaml_Uparam_Uparser_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibyaml_Uvendor_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Cyaml_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crosgraph_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Cstatistics_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Cbuiltin_Uinterfaces_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crosidl_Udefault_Uruntime_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crosidl_Ugenerator_Upy_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Ucpp_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Uc_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crcpputils_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Ufastrtps_Uc_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Ufastrtps_Ucpp_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Cfastcdr_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crmw_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Uintrospection_Ucpp_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crosidl_Uruntime_Ucpp_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Uintrospection_Uc_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crosidl_Uruntime_Uc_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crcutils_Ucc___U_Uopt_Uros_Uhumble_Slib -Lbazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Ctracetools_Ucc___U_Uopt_Uros_Uhumble_Slib -Lexternal/arm64_debian_rootfs/opt/ros/humble/lib -Lexternal/arm64_debian_rootfs/lib/gcc/aarch64-linux-gnu/11 -Lexternal/arm64_debian_rootfs/lib/aarch64-linux-gnu -Lexternal/arm64_debian_rootfs/usr/lib/aarch64-linux-gnu -Lexternal/arm64_debian_rootfs/lib -Lexternal/arm64_debian_rootfs/usr/lib -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crclcpp_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crclcpp_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Cstd_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Cstd_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crcl_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crcl_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crcl_Ulogging_Uspdlog_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crcl_Ulogging_Uspdlog_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crcl_Ulogging_Uinterface_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crcl_Ulogging_Uinterface_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crmw_Uimplementation_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crmw_Uimplementation_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Cament_Uindex_Ucpp_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Cament_Uindex_Ucpp_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crcl_Uinterfaces_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crcl_Uinterfaces_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crcl_Uyaml_Uparam_Uparser_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crcl_Uyaml_Uparam_Uparser_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Clibyaml_Uvendor_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Clibyaml_Uvendor_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Cyaml_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Cyaml_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crosgraph_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crosgraph_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Cstatistics_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Cstatistics_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Cbuiltin_Uinterfaces_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Cbuiltin_Uinterfaces_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crosidl_Udefault_Uruntime_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crosidl_Udefault_Uruntime_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crosidl_Ugenerator_Upy_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crosidl_Ugenerator_Upy_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Ucpp_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Ucpp_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Uc_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Uc_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crcpputils_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crcpputils_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Ufastrtps_Uc_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Ufastrtps_Uc_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Ufastrtps_Ucpp_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Ufastrtps_Ucpp_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Cfastcdr_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Cfastcdr_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crmw_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crmw_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Crosidl_Utypesupport_Uintrospection_Ucpp_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath 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"\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Crcutils_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/../../_solib_aarch64/_U@ros2_S_S_Ctracetools_Ucc___U_Uopt_Uros_Uhumble_Slib" -rpath "\$ORIGIN/_hello_world_noshim.runfiles/_main/_solib_aarch64/_U@ros2_S_S_Ctracetools_Ucc___U_Uopt_Uros_Uhumble_Slib" -lm --build-id=md5 --hash-style=gnu -z relro -z now -l:libstdc++.a --gc-sections bazel-out/k8-opt-pi/bin/src/hello_world_cpp_ros2/_objs/_hello_world_noshim/hello_world.o -lrclcpp -llibstatistics_collector -lrcl_yaml_param_parser -lrmw_implementation -lrcl_logging_spdlog -ltracetools -lrcl_interfaces__rosidl_typesupport_c -lrcl_interfaces__rosidl_generator_c -lrcl_logging_interface -lrcl_interfaces__rosidl_typesupport_fastrtps_c -lrcl_interfaces__rosidl_typesupport_introspection_c -lrcl_interfaces__rosidl_typesupport_fastrtps_cpp -lrcl_interfaces__rosidl_typesupport_introspection_cpp -lrcl_interfaces__rosidl_typesupport_cpp -lrcl_interfaces__rosidl_generator_py -lstd_msgs__rosidl_typesupport_fastrtps_c -lstd_msgs__rosidl_generator_c -lstd_msgs__rosidl_typesupport_fastrtps_cpp -lstd_msgs__rosidl_typesupport_introspection_c -lstd_msgs__rosidl_typesupport_introspection_cpp -lstd_msgs__rosidl_typesupport_cpp -lstd_msgs__rosidl_generator_py -lstd_msgs__rosidl_typesupport_c -lrcl -lyaml -lament_index_cpp -lrcpputils -lrosidl_typesupport_c -lbuiltin_interfaces__rosidl_generator_c -lbuiltin_interfaces__rosidl_typesupport_fastrtps_c -l:libfastcdr.so.1 -lrosidl_typesupport_fastrtps_c -lbuiltin_interfaces__rosidl_typesupport_introspection_c -lrosidl_typesupport_introspection_c -lbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp -lrosidl_typesupport_fastrtps_cpp -l:libfastcdr.so.1.0.24 -lbuiltin_interfaces__rosidl_typesupport_introspection_cpp -lrosidl_typesupport_introspection_cpp -lrosidl_typesupport_cpp -lbuiltin_interfaces__rosidl_typesupport_cpp -lbuiltin_interfaces__rosidl_generator_py -lbuiltin_interfaces__rosidl_typesupport_c -lrcl_logging_spdlog -lrcl_logging_interface -lrmw_implementation -lrmw -lrosidl_runtime_c -lament_index_cpp -lrcl_interfaces__rosidl_typesupport_fastrtps_c -lrcl_interfaces__rosidl_generator_c -lrcl_interfaces__rosidl_typesupport_introspection_c -lrcl_interfaces__rosidl_typesupport_fastrtps_cpp -lrcl_interfaces__rosidl_typesupport_introspection_cpp -lrcl_interfaces__rosidl_typesupport_cpp -lrcl_interfaces__rosidl_generator_py -lrcl_interfaces__rosidl_typesupport_c -lrcl_yaml_param_parser -lrcutils -lrosidl_runtime_c -lyaml -lyaml -lrosgraph_msgs__rosidl_typesupport_fastrtps_c -lrosgraph_msgs__rosidl_typesupport_fastrtps_cpp -lrosgraph_msgs__rosidl_typesupport_introspection_c -lrosgraph_msgs__rosidl_generator_c -lrosgraph_msgs__rosidl_typesupport_introspection_cpp -lrosgraph_msgs__rosidl_typesupport_cpp -lrosgraph_msgs__rosidl_generator_py -lrosgraph_msgs__rosidl_typesupport_c -lstatistics_msgs__rosidl_typesupport_fastrtps_c -lstatistics_msgs__rosidl_generator_c -lstatistics_msgs__rosidl_typesupport_fastrtps_cpp -lstatistics_msgs__rosidl_typesupport_introspection_c -lstatistics_msgs__rosidl_typesupport_introspection_cpp -lstatistics_msgs__rosidl_typesupport_cpp -lstatistics_msgs__rosidl_generator_py -lstatistics_msgs__rosidl_typesupport_c -lbuiltin_interfaces__rosidl_typesupport_fastrtps_c -lrosidl_typesupport_fastrtps_c -l:libfastcdr.so.1 -lrosidl_runtime_c -lrcutils -lbuiltin_interfaces__rosidl_typesupport_introspection_c -lbuiltin_interfaces__rosidl_generator_c -lrosidl_typesupport_introspection_c -lbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp -lrosidl_typesupport_fastrtps_cpp -lbuiltin_interfaces__rosidl_typesupport_introspection_cpp -lrosidl_typesupport_introspection_cpp -lbuiltin_interfaces__rosidl_typesupport_cpp -lrosidl_typesupport_cpp -lbuiltin_interfaces__rosidl_generator_py -l:libfastcdr.so.1.0.24 -lrmw -lbuiltin_interfaces__rosidl_typesupport_c -lrosidl_typesupport_c -lrcpputils -lrcutils -lrosidl_typesupport_cpp -lrosidl_typesupport_c -lrcpputils -lrosidl_typesupport_fastrtps_c -lrosidl_typesupport_fastrtps_cpp -l:libfastcdr.so.1.0.24 -l:libfastcdr.so.1.0.24 -lrmw -lrosidl_typesupport_introspection_cpp -lrcutils -lrosidl_typesupport_introspection_c -lrosidl_runtime_c -lrcutils -ltracetools -lgcc --as-needed -lgcc_s --no-as-needed -lc -lgcc --as-needed -lgcc_s --no-as-needed external/arm64_debian_rootfs/lib/gcc/aarch64-linux-gnu/11/crtend.o external/arm64_debian_rootfs/lib/aarch64-linux-gnu/crtn.o
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Crclcpp_Ucc___U_Uopt_Uros_Uhumble_Slib/librclcpp.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/liblibstatistics_collector.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/librcl_yaml_param_parser.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/librmw_implementation.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/librcl_logging_spdlog.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/libtracetools.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/librcl_interfaces__rosidl_typesupport_c.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/librcl_interfaces__rosidl_generator_c.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/librcl_logging_interface.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/librcl_interfaces__rosidl_typesupport_fastrtps_c.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/librcl_interfaces__rosidl_typesupport_introspection_c.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/librcl_interfaces__rosidl_typesupport_fastrtps_cpp.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/librcl_interfaces__rosidl_typesupport_introspection_cpp.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/librcl_interfaces__rosidl_typesupport_cpp.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Clibstatistics_Ucollector_Ucc___U_Uopt_Uros_Uhumble_Slib/librcl_interfaces__rosidl_generator_py.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Cstd_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib/libstd_msgs__rosidl_typesupport_fastrtps_c.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Cstd_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib/libstd_msgs__rosidl_generator_c.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Cstd_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib/libstd_msgs__rosidl_typesupport_fastrtps_cpp.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Cstd_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib/libstd_msgs__rosidl_typesupport_introspection_c.so is incompatible with elf64-littleaarch64
ld.lld: error: bazel-out/k8-opt-pi/bin/_solib_aarch64/_U@ros2_S_S_Cstd_Umsgs_Ucc___U_Uopt_Uros_Uhumble_Slib/libstd_msgs__rosidl_typesupport_introspection_cpp.so is incompatible with elf64-littleaarch64
ld.lld: error: too many errors emitted, stopping now (use -error-limit=0 to see all errors)
clang: error: linker command failed with exit code 1 (use -v to see invocation)

(where arm64_debian_rootfs is my target arm64 sysroot.) You can see it's including -Lexternal/arm64_debian_rootfs/opt/ros/humble/lib in the linker options - which I configured via linkopts in ros_cc_binary - but it still seems to be trying to link x86 .sos.

Is there a way to configure the bazel rules to allow cross-compilation with ROS2? Maybe via specifying CMake variables outlined here? Configuring multiple ros2_repositorys in WORKSPACE?

[lgulich]

Hey @tervay-bdai
Did you ever find a solution? I also have a bazel-ros workspace that I have to cross-compile for ARM.