參考文獻：
[1] https://medium.com/@tahsincankose/cross-compiling-ros-project-for-arm-263642b405ac
宿主機平臺：虛擬機ubuntu16.04LTS系統
目標運行平臺：樹莓派4B
目標平臺系統：Raspbian Buster with desktop and recommended software
採用的方法：
- 在樹莓派平臺上編譯好ROS kinetic，並拷貝到PC ubuntu16下面（/home/liqiang/work/linux/raspberrypi/lib/）；
- 拷貝樹莓派系統下的/usr和/lib兩個目錄拷貝到PC ubuntu16下面（/home/liqiang/work/linux/raspberrypi/lib/）；
- 可以查看ROS kinetic的share目錄下的cmake的find_package命令所需的配置文件中的內容，比如cv_bridgeConfig.cmake，其中有：
`set(libraries "cv_bridge;/usr/local/lib/libopencv_core.so.3.4.3;/usr/local/lib/libopencv_imgproc.so.3.4.3;/usr/local/lib/libopencv_imgcodecs.so.3.4.3")`
可以看到，其連接的共享庫都指向本地目錄這都是PC環境下運行的共享庫，我們需要替換其中的內容；
4. 修改kinect下所有文件中跟PC環境庫和頭文件相關的位置到從樹莓派4b拷貝過來的目錄對應位置：其中（以下指令均在kinect目錄下執行）
find . -type f | xargs sed -i 's#/opt/ros/kinetic#${CMAKE_CROSS_COMPILE_PREFIX}#g'
find . -type f | xargs sed -i 's#/usr/lib#${CMAKE_CROSS_COMPILE_PREFIX}/usr/lib#g'
`
find . -type f | xargs sed -i 's#/usr/local/lib#${CMAKE_CROSS_COMPILE_PREFIX}/usr/local/lib#g'
find . -type f | xargs sed -i 's#/usr/local/include#${CMAKE_CROSS_COMPILE_PREFIX}/usr/local/include#g'
find . -type f | xargs sed -i 's#/usr/include#${CMAKE_CROSS_COMPILE_PREFIX}/usr/include#g'``
- 配置好交叉編譯環境，這裏下載自:https://github.com/raspberrypi/tools，使用的是gcc-linaro-arm-linux-gnueabihf-raspbian-x64 （大坑）
- 編寫rostoolchain.cmake文件，其內容爲，詳見參考文獻1，
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR arm)
set(CMAKE_LIBRARY_ARCHITECTURE arm-linux-gnueabihf)
set(CMAKE_C_COMPILER arm-linux-gnueabihf-gcc)
set(CMAKE_CXX_COMPILER arm-linux-gnueabihf-g++)
SET(RASPBERRY_ROOT_PATH /home/liqiang/work/linux/raspberrypi/lib)
SET(RASPBERRY_KINETIC_PATH ${RASPBERRY_ROOT_PATH}/opt/ros/kinetic)
SET(CMAKE_FIND_ROOT_PATH ${RASPBERRY_ROOT_PATH} ${CATKIN_DEVEL_PREFIX})
SET(CMAKE_PREFIX_PATH ${RASPBERRY_KINETIC_PATH} ${RASPBERRY_ROOT_PATH}/usr)
# Have to set this one to BOTH, to allow CMake to find rospack
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM BOTH)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
SET(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
#SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --sysroot=${RASPBERRY_ROOT_PATH}" CACHE INTERNAL "" FORCE)
#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --sysroot=${RASPBERRY_ROOT_PATH}" CACHE INTERNAL "" FORCE)
#SET(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} --sysroot=${RASPBERRY_ROOT_PATH}" CACHE INTERNAL "" FORCE)
#SET(CMAKE_CXX_LINK_FLAGS "${CMAKE_CXX_LINK_FLAGS} --sysroot=${RASPBERRY_ROOT_PATH}" CACHE INTERNAL "" FORCE)
SET(LD_LIBRARY_PATH ${RASPBERRY_KINETIC_PATH}/lib)
include_directories(/home/liqiang/work/linux/raspberrypi/lib/usr/include/arm-linux-gnueabihf)
set(CMAKE_CROSS_COMPILE_PREFIX /home/liqiang/work/linux/raspberrypi/lib)
LINK_DIRECTORIES(${CMAKE_CROSS_COMPILE_PREFIX}/lib/arm-linux-gnueabihf)
- 在catkin工程目錄下運行以下指令，進行編譯
catkin_make -DCMAKE_TOOLCHAIN_FILE=/home/liqiang/work/mobileRobot/rostoolchain.cmake
備註：得到這樣的結果已經奮戰了好幾天了，離成功不遠了。
解決試探：
可以看到庫有問題，但究竟誰的庫有問題了（交叉編譯器的自帶的庫還是從目標機器拷貝的庫），標準c：庫交叉編譯器自帶的爲libc-2.13.so，而樹莓派的庫爲libc-2.28.so，標準C++庫：通過執行以下指令：
readelf -a libstdc++.so | grep 3.4
比較得知，交叉編譯器的c++庫只支持到GLIBCXX_3.4.19，而樹莓派系統自帶的庫支持到GLIBCXX_3.4.25，故編譯器的庫版本較低。從編譯錯誤看出，需要支持到GLIBCXX_3.4.21。
決定用樹莓派的庫替換交叉編譯器的庫，結果是連編譯都無法完成了，不是連接錯誤。
看來需要更高版本的交叉編譯器了，查看編譯器的版本：
arm-linux-gnueabihf-gcc -v
樹莓派：gcc version 8.3.0 (Raspbian 8.3.0-6+rpi1)
交叉編譯器： gcc version 4.8.3 20140303 (prerelease) (crosstool-NG linaro-1.13.1+bzr2650 - Linaro GCC 2014.03)
可以看出，交叉編譯器的版本很低，進而需要尋找更高版本的交叉編譯器，在錯誤編譯結果之後給出尋找正確交叉編譯器的過程：
錯誤編譯結果：
[ 66%] Building CXX object robot_base/bin/CMakeFiles/robot_base.dir/src/Communication.cpp.o
[ 66%] Building CXX object robot_base/bin/CMakeFiles/robot_base.dir/src/main.cpp.o
[100%] Linking CXX executable robot_base
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/libcrypt.so.1: undefined reference to `__open_nocancel@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `VTT for std::__cxx11::basic_stringstream<char, std::char_traits<char>, std::allocator<char> >@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::_M_replace_aux(unsigned int, unsigned int, unsigned int, wchar_t)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libroscpp.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_mutate(unsigned int, unsigned int, char const*, unsigned int)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libroscpp.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find(char const*, unsigned int, unsigned int) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_assign(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libroscpp.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::rfind(char, unsigned int) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find(char, unsigned int) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `bool std::has_facet<std::__cxx11::messages<char> >(std::locale const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_append(char const*, unsigned int)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `VTT for std::__cxx11::basic_stringstream<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `bool std::has_facet<std::__cxx11::messages<wchar_t> >(std::locale const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::_M_append(wchar_t const*, unsigned int)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf2_ros.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::basic_string(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/libuuid.so.1: undefined reference to `fcntl64@GLIBC_2.28'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf2_ros.so: undefined reference to `std::__cxx11::basic_ostringstream<char, std::char_traits<char>, std::allocator<char> >::basic_ostringstream(std::_Ios_Openmode)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_stringbuf<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::_M_sync(wchar_t*, unsigned int, unsigned int)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/libcrypt.so.1: undefined reference to `__read_nocancel@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::reserve(unsigned int)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::rfind(char const*, unsigned int, unsigned int) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::runtime_error::runtime_error(char const*)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__close_nocancel@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/libapr-1.so.0: undefined reference to `__fdelt_chk@GLIBC_2.15'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_filesystem.so: undefined reference to `std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::_M_replace(unsigned int, unsigned int, wchar_t const*, unsigned int)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `vtable for std::__cxx11::basic_ostringstream<char, std::char_traits<char>, std::allocator<char> >@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/librosconsole.so: undefined reference to `std::logic_error::logic_error(char const*)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::runtime_error::runtime_error(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libroscpp.so: undefined reference to `typeinfo for std::ios_base::failure[abi:cxx11]@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf2_ros.so: undefined reference to `operator delete(void*, unsigned int)@CXXABI_1.3.9'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::_M_create(unsigned int&, unsigned int)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libroscpp.so: undefined reference to `std::__cxx11::numpunct<char> const& std::use_facet<std::__cxx11::numpunct<char> >(std::locale const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::resize(unsigned int, char)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__recv@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__clock_getres@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_erase(unsigned int, unsigned int)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::invalid_argument::invalid_argument(char const*)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::operator=(std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >&&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/libdl.so.2: undefined reference to `_dl_catch_error@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libroscpp.so: undefined reference to `std::__throw_out_of_range_fmt(char const*, ...)@GLIBCXX_3.4.20'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::out_of_range::out_of_range(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__shm_directory@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_filesystem.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find_last_of(char const*, unsigned int, unsigned int) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__pthread_barrier_wait@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_replace_aux(unsigned int, unsigned int, unsigned int, char)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_replace(unsigned int, unsigned int, char const*, unsigned int)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf2_ros.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::compare(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_stringbuf<char, std::char_traits<char>, std::allocator<char> >::_M_sync(char*, unsigned int, unsigned int)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_stringstream<char, std::char_traits<char>, std::allocator<char> >::~basic_stringstream()@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf2_ros.so: undefined reference to `std::runtime_error::runtime_error(char const*)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libroscpp.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find_first_of(char const*, unsigned int, unsigned int) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_construct(unsigned int, char)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libroscpp.so: undefined reference to `fcntl@GLIBC_2.28'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::compare(unsigned int, unsigned int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf2_ros.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::assign(char const*)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf2_ros.so: undefined reference to `std::logic_error::logic_error(std::logic_error const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_filesystem.so: undefined reference to `__cxa_throw_bad_array_new_length@CXXABI_1.3.8'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__pthread_get_minstack@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `vtable for std::__cxx11::basic_stringstream<char, std::char_traits<char>, std::allocator<char> >@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::overflow_error::overflow_error(char const*)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::compare(std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> > const&) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `vtable for std::__cxx11::basic_stringbuf<char, std::char_traits<char>, std::allocator<char> >@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/libdl.so.2: undefined reference to `_dl_signal_error@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::__cxx11::collate<char> const& std::use_facet<std::__cxx11::collate<char> >(std::locale const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::_M_construct(unsigned int, wchar_t)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::runtime_error::runtime_error(std::runtime_error const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::insert(unsigned int, char const*)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/libuuid.so.1: undefined reference to `getrandom@GLIBC_2.25'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_thread.so: undefined reference to `std::basic_istream<char, std::char_traits<char> >& std::getline<char, std::char_traits<char>, std::allocator<char> >(std::basic_istream<char, std::char_traits<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, char)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::append(char const*)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__clock_gettime@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__clock_nanosleep@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::compare(wchar_t const*) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_filesystem.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find_first_not_of(char const*, unsigned int, unsigned int) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_stringstream<char, std::char_traits<char>, std::allocator<char> >::basic_stringstream(std::_Ios_Openmode)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/libaprutil-1.so.0: undefined reference to `__explicit_bzero_chk@GLIBC_2.25'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::_M_assign(std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> > const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_create(unsigned int&, unsigned int)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::compare(unsigned int, unsigned int, char const*) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__clock_getcpuclockid@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__libc_pread@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_ostringstream<char, std::char_traits<char>, std::allocator<char> >::~basic_ostringstream()@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf2_ros.so: undefined reference to `std::out_of_range::out_of_range(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf2_ros.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::compare(char const*) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_stringbuf<char, std::char_traits<char>, std::allocator<char> >::str() const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::swap(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::compare(unsigned int, unsigned int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `VTT for std::__cxx11::basic_ostringstream<char, std::char_traits<char>, std::allocator<char> >@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_ostringstream<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::~basic_ostringstream()@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `VTT for std::__cxx11::basic_ostringstream<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/libcrypt.so.1: undefined reference to `__snprintf@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__socket@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::__cxx11::collate<wchar_t> const& std::use_facet<std::__cxx11::collate<wchar_t> >(std::locale const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::operator=(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/libtf.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::~basic_string()@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::__cxx11::numpunct<wchar_t> const& std::use_facet<std::__cxx11::numpunct<wchar_t> >(std::locale const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::~basic_string()@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `vtable for std::__cxx11::basic_ostringstream<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::__cxx11::messages<wchar_t> const& std::use_facet<std::__cxx11::messages<wchar_t> >(std::locale const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find_last_not_of(char, unsigned int) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__clock_settime@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/librt.so.1: undefined reference to `__pthread_barrier_init@GLIBC_PRIVATE'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `vtable for std::__cxx11::basic_stringstream<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::reserve(unsigned int)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::find_first_not_of(char, unsigned int) const@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/opt/ros/kinetic/lib/librosconsole.so: undefined reference to `std::runtime_error::runtime_error(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/lib/arm-linux-gnueabihf/liblog4cxx.so: undefined reference to `vtable for std::__cxx11::basic_stringbuf<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >@GLIBCXX_3.4.21'
/home/liqiang/work/linux/raspberrypi/lib/usr/local/lib/libboost_regex.so: undefined reference to `std::__cxx11::messages<char> const& std::use_facet<std::__cxx11::messages<char> >(std::locale const&)@GLIBCXX_3.4.21'
collect2: error: ld returned 1 exit status
robot_base/bin/CMakeFiles/robot_base.dir/build.make:143: recipe for target 'robot_base/bin/robot_base' failed
make[2]: *** [robot_base/bin/robot_base] Error 1
CMakeFiles/Makefile2:2080: recipe for target 'robot_base/bin/CMakeFiles/robot_base.dir/all' failed
make[1]: *** [robot_base/bin/CMakeFiles/robot_base.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed
參考文獻1，直接在PC端ubuntu上安裝交叉編譯工具：
sudo apt install gcc-arm-linux-gnueabihf
sudo apt install g+±arm-linux-gnueabihf
經確認，其自帶的c庫支持到GLIBC_2.23，自帶的C++庫支持到GLIBCXX_3.4.21，對於上面C++庫兼容性問題，此工具鏈自帶的庫剛好滿足，試着編譯ros應用包，結果成功。