Package Cross-Compilation Tools in Docker

[lukicdarkoo]

Description
This PR supposed to provide cross-compilation tools in Docker, together with helper commands to utilize the tools. It is more closely explained in #18.

Related Issues
Closes #18

Tasks

• Make compilation pass without errors
• Test the compiled project if it works on Raspberry Pi Zero
• Add command cross-colcon-build which wraps colcon build
  • Documentation
• Add command cross-initialize initializes ROS2 workspace
  • Documentation
• Clean (e.g. delete /installation/cross_compile/custom_compiler/)
• Move and improve compilation script (/installation/compile)

[DavidMansolino]

Looks good (even so I didn't try it yet), just a few comments.

[lukicdarkoo]

The idea for the next PR. We can run the cross-compilation in CI and distribute the binaries on GitHub. I compiled minimal dependencies to run epuck_ros2_driver, compressed it in .tar.xz archive and it took only 16MB. This is much easier to distribute than OS images.

However, I am still not able to cross-compile epuck_ros2_camera package as it depends on MMAL. Also, we are missing rootfs which we could build in Docker (which should be emulated in QEMU).

[DavidMansolino]

👀

[DavidMansolino]

Thank you