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Mingw Cross and Native Mingw Compatibility
Description: Often you'll need to transfer some mingw_cross built libs to a native mingw windows environment so that you can finish development. Either its because your colleagues are using windows, or you have other libraries already built in the native mingw environment that you cant rebuild with mingw_cross. This guide was written based on Guillaume Walck's experiences.Keywords: mingw
Tutorial Level: ADVANCED
Contents
Installing Sources
This assumes that you already have the ros and eros sources enabling a mingw build as described here.
Extracting Mingw Cross
When installing mingw_cross, only download/extract the sources.
rosdep install mingw_cross roscd mingw_cross make extract # extracts mingw-cross in /opt/mingw
Gcc Customisations
Gcc must be compiled with almost the same configuration options as in windows. Currently mingw gcc is version 4.5.2 on windows and totally disables sjlj-exceptions and forces dwarf2. The same must be set in linux mingw-cross gcc.
cd /opt/mingw/src/ <yourfavorite editor> gcc.mk
- In gcc build options add
--with-dwarf2 \
--enable-static \
--disable-sjlj-exceptions \Compile the whole suite
cd /opt/mingw make gcc apr apr-util log4cxx boost qt
Cross Compiling
At this step you are ready to cross compile the minimal set of packages for ros communications.
Transfer
Copy the ros compiled libraries as well as the mingw_cross boost libs, libapr-1.a, libaprutil-1.a, libexpat.a, libiconv.a liblog4cxx.a in /opt/mingw/usr/i686-pc-mingw32/lib.
Linking in Windows
Simply set build options for your program to link to your lib, to boost libs, and to several roslibs (libros.a, librosconsole.a, libroscpp_serialization.a, librostime.a, libXmlRpc.a), and deps (libapr-1.a, libaprutil-1.a, libexpat.a, libiconv.a liblog4cxx.a).
