我正在尝试使用Yocto生成的SDK在Docker容器中编译cartographer。
SDK运行良好，因为我可以交叉编译我想要的东西，除了制图师。
我遇到的问题是CMakeLists.txt调用protoc（来自protobuf）。我在主机和目标目录中安装了protoc。
add_custom_command(
OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
ARGS --cpp_out ${PROJECT_BINARY_DIR} -I
${PROJECT_SOURCE_DIR} ${ABS_FIL}
DEPENDS ${ABS_FIL}
COMMENT "Running C++ protocol buffer compiler on ${ABS_FIL}"
VERBATIM
)
我有点困惑，因为虽然protoc已经可用，但我在使用aarch64-poky-linux-编译器时使用x86_64架构调用protoc。这导致找不到库，因为架构在某种程度上是混淆的。 glog也安装在两种架构上：
make[2]: *** No rule to make target '/home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64/usr/lib/libglog.so', needed by 'cartographer/kalman_filter/kalman_filter_unscented_kalman_filter_test'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64/usr/lib/libglog.so', needed by 'cartographer/kalman_filter/kalman_filter_gaussian_distribution_test'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64/usr/lib/libglog.so', needed by 'cartographer/common/common_fixed_ratio_sampler_test'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64/usr/lib/libglog.so', needed by 'cartographer/common/common_lua_parameter_dictionary_test'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64/usr/lib/libglog.so', needed by 'cartographer/common/common_blocking_queue_test'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64/usr/lib/libglog.so', needed by 'cartographer/mapping/mapping_probability_values_test'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64/usr/lib/libglog.so', needed by 'cartographer/common/common_math_test'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64/usr/lib/libglog.so', needed by 'cartographer/common/common_rate_timer_test'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64/usr/lib/libglog.so', needed by 'cartographer/mapping_2d/mapping_2d_probability_grid_test'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64/usr/lib/libglog.so', needed by 'cartographer/mapping/mapping_trajectory_connectivity_test'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64/usr/lib/libglog.so', needed by 'cartographer/mapping/mapping_submaps_test'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64/usr/lib/libglog.so', needed by 'cartographer/kalman_filter/kalman_filter_pose_tracker_test'. Stop.
make[2]: *** Waiting for unfinished jobs....
奇怪的是，提到的目录（/ home / yocto / yocto_topdir / tmp / sysroots / raspberrypi-cm3-64）仅在生成SDK时存在于Yocto工作区中。它不是我检查过的CMAKE变量，而是来自其他地方。
简单地在我的容器中解决问题
mkdir -p /home/yocto/yocto_topdir/tmp/sysroots
ln -s /usr/local/oecore-sdk/sysroots/aarch64-poky-linux /home/yocto/yocto_topdir/tmp/sysroots/raspberrypi-cm3-64
我不把它写成答案，因为它是'黑客'。它只是指向目标
的sysroot的文件夹容器编辑：添加了更多详细信息