Makes MSCL version configurable and autodetects architecture

.devcontainer/Makefile

@@ -29,7 +29,7 @@ group_id := $(shell id -g)
 # Set up some variables for the docker build
 dev_dockerfile := $(docker_dir)/Dockerfile.dev
 deploy_dockerfile := $(docker_dir)/Dockerfile.deploy
-build_args := --build-arg http_proxy --build-arg https_proxy --build-arg no_proxy --build-arg USER_ID=$(user_id) --build-arg GROUP_ID=$(group_id)
+build_args := --build-arg http_proxy --build-arg https_proxy --build-arg no_proxy --build-arg ARCH=$(arch) --build-arg USER_ID=$(user_id) --build-arg GROUP_ID=$(group_id)
 run_args := -e http_proxy -e https_proxy -e no_proxy
 run_mounts := -v "$(project_dir):/tmp/$(project_name)_release_workspace" -v "$(project_dir)/ros_mscl:$(docker_catkin_src_dir)/ros_mscl" -v "$(project_dir)/mscl_msgs:$(docker_catkin_src_dir)/mscl_msgs" -v "$(project_dir)/Examples:$(docker_catkin_src_dir)/Examples" -v "$(build_dir):$(docker_catkin_build_dir)" -v "$(devel_dir):$(docker_catkin_devel_dir)"
 dev_image_name := $(arch)/$(project_name)-dev:$(ros_version)

README.md

@@ -83,6 +83,8 @@ can be used to build docker images, run a shell inside the docker images and pro
 1. Install the following dependencies:
     1. [Make](https://www.gnu.org/software/make/)
     1. [Docker](https://docs.docker.com/get-docker/)
+    1. [qemu-user-static](https://packages.ubuntu.com/bionic/qemu-user-static) (for multiarch builds)
+        1. Run the following command to register the qemu binaries with docker: `docker run --rm --privileged multiarch/qemu-user-static:register`
 
 The `Makefile` exposes the following tasks. They can all be run from the `.devcontainer` directory:
 * `make build-shell` - Builds the docker image and starts a shell session in the image allowing the user to develop and build the ROS project using common commands such as `catkin_make`

ros_mscl/CMakeLists.txt

@@ -20,11 +20,25 @@ find_package(catkin REQUIRED COMPONENTS
   mscl_msgs
 )
 
+# Allow the MSCL version to be overridden
+set(MSCL_VERSION "62.0.0" CACHE STRING "Version of MSCL to download and build with")
+
+# Convert the CMake architecture to the format that MSCL uses
+if("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "amd64")
+  set(MSCL_ARCH "amd64")
+elseif("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "aarch64")
+  set(MSCL_ARCH "arm64")
+elseif("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "armhf")
+  set(MSCL_ARCH "armhf")
+else()
+  message(FATAL_ERROR "Unsupported architecture: ${CMAKE_SYSTEM_PROCESSOR}")
+endif()
+
 # Install MSCL from github
 set(MSCL_GITHUB_ORG "LORD-MicroStrain")
 set(MSCL_GITHUB_REPO "MSCL")
-set(MSCL_GITHUB_TAG "v62.0.0")
-set(MSCL_GITHUB_ARTIFACT "c++-mscl_62.0.0_amd64.deb")
+set(MSCL_GITHUB_TAG "v${MSCL_VERSION}")
+set(MSCL_GITHUB_ARTIFACT "c++-mscl_${MSCL_VERSION}_${MSCL_ARCH}.deb")
 
 # Get the release ID for the version we are trying to download
 set(MSCL_LIST_REPO_URL "https://api.github.com/repos/${MSCL_GITHUB_ORG}/${MSCL_GITHUB_REPO}/releases/tags/${MSCL_GITHUB_TAG}")