Enable aarch64 build via cross-compilation on Azure

[traversaro]

Checklist

• Used a personal fork of the feedstock to propose changes
• Bumped the build number (if the version is unchanged)
• Reset the build number to 0 (if the version changed)
• Re-rendered with the latest conda-smithy (Use the phrase @conda-forge-admin, please rerender in a comment in this PR for automated rerendering)
• Ensured the license file is being packaged.

[conda-forge-linter]

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe) and found it was in an excellent condition.

[traversaro]

@conda-forge-admin, please rerender

[hmaarrfk]

Warnings are appearning that you need libignition-msgs5

2022-06-05T17:10:12.0503502Z WARNING (gazebo,lib/gazebo-11/plugins/libContainPlugin.so): .. but ['libignition-msgs5'] not in reqs/run, (i.e. it is overlinking) (likely) or a missing dependency (less likely)

Not sure where this warning is coming from:

2022-06-05T17:10:02.3578256Z WARNING (gazebo,lib/gazebo-11/plugins/libSimpleTrackedVehiclePlugin.so): $RPATH/libTrackedVehiclePlugin.so not found in packages, sysroot(s) nor the missing_dso_whitelist.

Also assimp

2022-06-05T17:10:01.5186421Z WARNING (gazebo,lib/gazebo-11/plugins/libGravityCompensationPlugin.so): Needed DSO lib/libassimp.so.5 found in ['assimp']
2022-06-05T17:10:01.5188034Z WARNING (gazebo,lib/gazebo-11/plugins/libGravityCompensationPlugin.so): .. but ['assimp'] not in reqs/run, (i.e. it is overlinking) (likely) or a missing dependency (less likely)

2022-06-05T17:09:53.3830696Z WARNING (gazebo,lib/libgazebo_physics.so.11.11.0): Needed DSO lib/libignition-msgs5.so.5 found in ['libignition-msgs5']
2022-06-05T17:09:53.3832391Z WARNING (gazebo,lib/libgazebo_physics.so.11.11.0): .. but ['libignition-msgs5'] not in reqs/run, (i.e. it is overlinking) (likely) or a missing dependency (less likely)
2022-06-05T17:09:53.4074642Z INFO (gazebo,lib/libgazebo_physics.so.11.11.0): Needed DSO lib/libignition-math6.so.6 found in conda-forge::libignition-math6-6.11.0-py310h3f2b827_1
2022-06-05T17:09:53.4299207Z INFO (gazebo,lib/libgazebo_physics.so.11.11.0): Needed DSO lib/libboost_regex.so.1.74.0 found in conda-forge::boost-cpp-1.74.0-h6cacc03_7
2022-06-05T17:09:53.4535851Z INFO (gazebo,lib/libgazebo_physics.so.11.11.0): Needed DSO lib/libode.so.0.16.2 found in conda-forge::libode-0.16.2-hd8f1fbe_10
2022-06-05T17:09:53.4580584Z INFO (gazebo,lib/libgazebo_physics.so.11.11.0): Needed DSO x86_64-conda-linux-gnu/sysroot/lib64/libpthread.so.0 found in CDT/compiler package conda-forge::sysroot_linux-64-2.17-h4a8ded7_13
2022-06-05T17:09:53.4819037Z WARNING (gazebo,lib/libgazebo_physics.so.11.11.0): Needed DSO lib/liburdfdom_world.so.3.0 found in ['urdfdom']
2022-06-05T17:09:53.4820686Z WARNING (gazebo,lib/libgazebo_physics.so.11.11.0): .. but ['urdfdom'] not in reqs/run, (i.e. it is overlinking) (likely) or a missing dependency (less likely)
2022-06-05T17:09:53.5062094Z INFO (gazebo,lib/libgazebo_physics.so.11.11.0): Needed DSO lib/libdart.so.6.12 found in conda-forge::dartsim-6.12.1-h8aa081f_5
2022-06-05T17:09:53.5313528Z WARNING (gazebo,lib/libgazebo_physics.so.11.11.0): Needed DSO lib/libassimp.so.5 found in ['assimp']
2022-06-05T17:09:53.5315218Z WARNING (gazebo,lib/libgazebo_physics.so.11.11.0): .. but ['assimp'] not in reqs/run, (i.e. it is overlinking) (likely) or a missing dependency (less likely)
2022-06-05T17:09:53.5559605Z INFO (gazebo,lib/libgazebo_physics.so.11.11.0): Needed DSO lib/libSimTKmath.so.3.7 found in conda-forge::simbody-3.7-h64f3f5a_3
2022-06-05T17:09:53.5812380Z INFO (gazebo,lib/libgazebo_physics.so.11.11.0): Needed DSO lib/libSimTKcommon.so.3.7 found in conda-forge::simbody-3.7-h64f3f5a_3
2022-06-05T17:09:53.6062928Z WARNING (gazebo,lib/libgazebo_physics.so.11.11.0): Needed DSO lib/libopenblas.so.0 found in ['libopenblas']
2022-06-05T17:09:53.6064716Z WARNING (gazebo,lib/libgazebo_physics.so.11.11.0): .. but ['libopenblas'] not in reqs/run, (i.e. it is overlinking) (likely) or a missing dependency (less likely)

My "hunch" is that it is related to the openblas warning. Maybe you can cleanup the other ones, then ping somebody with more experience.

[traversaro]

Hi @hmaarrfk, thanks for pointing to the warnings. However, the warnings appear also on the linux64 (amd64) build, so they are not strictly related to the aarch64 build. So if it is ok for you I would open a separate issue for those warnings, without blocking this PR. By the way, I suspect that this warnings are probably related to the issue discussed in #107, but applyied to dart or other dependencies of gazebo.

@Tobias-Fischer what do you think of this PR? I am double checking to avoid conflicts with the aarch64 build of Gazebo in robostack.

[Tobias-Fischer]

Happy for it to be merged unless @hmaarrfk feels strongly about the warnings.

[hmaarrfk]

I don't. I'm just trying to help where I can

[traversaro]

I don't. I'm just trying to help where I can

And that is super-welcome! We can continue the discussion in #136 .