Steps for RPi Cross compilation

install qemu qemu-user qemu-user-static

yay -S qemu-user-static

Insert the SD card and check mount points using lsblk command

Mount sd card and copy qemu-arm-static to sd card

sudo mount /dev/mmcblk0p2 /mnt/root    
sudo mount /dev/mmcblk0p1 /mnt/root/boot     
sudo cp /usr/bin/qemu-arm /mnt/root/usr/bin  
sudo cp /usr/bin/qemu-arm-static /mnt/root/usr/bin

Mount bind host system with sd card

sudo mount -o bind /dev /mnt/root/dev  
sudo mount -o bind /proc /mnt/root/proc  
sudo mount -o bind /sys /mnt/root/sys   
sudo mount --bind /dev/pts /mnt/root/dev/pts 
sudo  mount -t proc /proc /mnt/root/proc/

Chroot into sd card and compile code

sudo chroot /mnt/root /bin/bash
#loggedin as root
su ubuntu
source /opt/ros/galactic/setup.zsh
 
colcon --log-level=debug build --packages-skip-build-finished --packages-skip ros1_bridge 

# To use all cores of host machine set makeflags variable to max
MAKEFLAGS="-j8" colcon build --symlink-install --packages-skip ros1_bridge --event-handlers console_direct+ --packages-skip-build-finished

Exit chroot and unmount in reverse tree order

exit

sudo umount /mnt/root/{dev/pts,dev,sys,proc,boot,}    
sudo umount /dev/mmcblk0p2 /dev/mmcblk0p1

connect to internet while chrooted into sd card

sudo mount -o bind /etc/resolv.conf /mnt/root/etc/resolv.conf
# or
sudo cp /etc/resolv.conf /mnt/root/etc/resolv.conf

​References

https://wiki.archlinux.org/title/QEMUOpen external link https://wiki.debian.org/RaspberryPi/qemu-user-staticOpen external link
https://forums.raspberrypi.com/viewtopic.php?t=8478Open external link https://hjortsberg.org/notes/Installing-Debian-packages-in-ArchLinux-using-debtap.htmlOpen external link https://www.raspberrypi.org/documentation/linux/usage/chroot.mdOpen external link https://g.masse.me/blog/2020/01/14/HOW-TO-pre-configure-your-Ubuntu-installation-for-a-Raspberry-Pi/Open external link

Author: Mihir PatelOpen external link