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Refactor (#1)
* Initial Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Add boards Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update portenta Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
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‎.github/actions/platformio-env/action.yml‎

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name: 'platformio-env'
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description: 'Install Platform.IO environment'
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runs:
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using: "composite"
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steps:
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- id: install-platformio-env
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shell: bash
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run: |
9+
apt update
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export DEBIAN_FRONTEND=noninteractive
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apt install -y git curl python3 python3-pip git cmake
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python3 -c "$(curl -fsSL https://raw.githubusercontent.com/platformio/platformio/master/scripts/get-platformio.py)"
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echo 'export PATH=$PATH:~/.platformio/penv/bin' >> ~/.bashrc
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‎.github/workflows/ci.yml‎

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jobs:
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micro_ros_arduino:
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micro_ros_platformio:
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runs-on: ubuntu-20.04
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container: ubuntu:20.04
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strategy:
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fail-fast: false
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matrix:
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platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_eth, portenta_h7_m7_wifi, esp32dev_wifi]
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steps:
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- uses: actions/checkout@v2
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- uses: actions/checkout@v3
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with:
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path: checkout/
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path: repo
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- name: Install environment
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uses: ./repo/.github/actions/platformio-env
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- name: Build
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shell: bash
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run: |
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apt update
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apt install -y git curl lib32z1 wget libfontconfig libxft2 xz-utils rsync python-is-python3 python3-pip
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pip3 install pyserial
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curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh
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mkdir -p /github/home/Arduino/libraries/micro_ros_arduino/
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cp -R checkout/* /github/home/Arduino/libraries/micro_ros_arduino/
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echo '''board_manager:
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additional_urls:
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- https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json
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- https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json''' > arduino-cli.yaml
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export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin
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arduino-cli core install OpenCR:OpenCR -v
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arduino-cli core install arduino:samd -v
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arduino-cli core install arduino:sam -v
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arduino-cli core install arduino:mbed -v
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arduino-cli core install esp32:esp32 -v
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#
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# INSTALLING TEENSY SUPPORT
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wget https://downloads.arduino.cc/arduino-1.8.19-linux64.tar.xz
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tar -xf arduino-1.8.19-linux64.tar.xz
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wget https://www.pjrc.com/teensy/td_156/TeensyduinoInstall.linux64
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chmod 755 TeensyduinoInstall.linux64
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./TeensyduinoInstall.linux64 --dir=arduino-1.8.19
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# Faking Teensy loader
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TRUE_PATH=$(which true)
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rm -rf arduino-1.8.19/hardware/tools/teensy_post_compile
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cp $TRUE_PATH arduino-1.8.19/hardware/tools/teensy_post_compile
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cp -R arduino-1.8.19/hardware/teensy/ /github/home/.arduino15/packages/
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rsync -a arduino-1.8.19/hardware/tools/ /github/home/.arduino15/packages/tools/
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rm -rf arduino-1.8.19 arduino-1.8.19-linux64.tar.xz
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#
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# PATCHING TEENSY AND SAM
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cat checkout/extras/patching_boards/platform_teensy.txt > /github/home/.arduino15/packages/teensy/avr/platform.txt
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# remove when https://github.com/arduino/ArduinoCore-sam/pull/115 merged
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cat checkout/extras/patching_boards/platform_arduinocore_sam.txt > /github/home/.arduino15/packages/arduino/hardware/sam/1.6.12/platform.txt
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#
57-
# BUILDING EXAPLE FOR EACH PLATFORM
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arduino-cli core update-index
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arduino-cli lib update-index
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arduino-cli lib install WiFiNINA
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arduino-cli lib install "STM32duino X-NUCLEO-IKS01A3"
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# Build all demos
63-
arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
64-
arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_addtwoints_service -v
65-
arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_reconnection_example -v
66-
arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_subscriber -v
67-
arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_subscriber_twist -v
68-
arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_tf_publisher -v
69-
arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_time_sync -v
70-
arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_types_handling -v
71-
# Build one demo for each platform
72-
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
73-
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
74-
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
75-
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
76-
arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
77-
arduino-cli compile --fqbn teensy:avr:teensy35 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
78-
arduino-cli compile --fqbn teensy:avr:teensy36 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
79-
arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
80-
arduino-cli compile --fqbn teensy:avr:teensy40 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
81-
arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
82-
arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
83-
# arduino-cli compile --fqbn arduino:mbed:envie_m4 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
84-
arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
85-
arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
86-
arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
87-
arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
28+
export PATH=$PATH:~/.platformio/penv/bin
29+
cd repo/ci
30+
pio run -e ${{ matrix.platform }}

‎.gitignore‎

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platformio_toolchain.cmake
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13
#################
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## Eclipse
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#################

‎.images/arduino_logo.png‎

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Binary file not shown.

‎.images/microros_logo.png‎

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‎ci/.gitignore‎

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.pio

‎ci/custom.meta‎

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{
2+
"names": {
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"rmw_microxrcedds": {
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"cmake-args": [
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"-DRMW_UXRCE_MAX_NODES=1",
6+
"-DRMW_UXRCE_MAX_PUBLISHERS=1",
7+
"-DRMW_UXRCE_MAX_SUBSCRIPTIONS=1",
8+
"-DRMW_UXRCE_MAX_SERVICES=0",
9+
"-DRMW_UXRCE_MAX_CLIENTS=0",
10+
"-DRMW_UXRCE_MAX_HISTORY=1",
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"-DRMW_UXRCE_TRANSPORT=custom"
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]
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}
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}
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}

‎ci/platformio.ini‎

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; Serial platforms
2+
3+
[env:portenta_h7_m7]
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platform = ststm32
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board = portenta_h7_m7
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framework = arduino
7+
microros_transport = serial
8+
lib_deps =
9+
../
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11+
[env:teensy41]
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platform = teensy
13+
board = teensy41
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framework = arduino
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microros_transport = serial
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lib_deps =
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../
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19+
[env:teensy40]
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platform = teensy
21+
board = teensy40
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framework = arduino
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microros_transport = serial
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lib_deps =
25+
../
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27+
[env:teensy36]
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platform = teensy
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board = teensy36
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framework = arduino
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microros_transport = serial
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lib_deps =
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../
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35+
[env:teensy35]
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platform = teensy
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board = teensy35
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framework = arduino
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microros_transport = serial
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lib_deps =
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../
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43+
[env:teensy31]
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platform = teensy
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board = teensy31
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framework = arduino
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microros_transport = serial
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lib_deps =
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../
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[env:due]
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platform = atmelsam
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board = due
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framework = arduino
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microros_transport = serial
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lib_deps =
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../
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[env:zero]
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platform = atmelsam
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board = zero
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framework = arduino
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microros_transport = serial
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lib_deps =
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../
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[env:olimex_e407]
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platform = ststm32
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board = olimex_e407
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framework = arduino
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microros_transport = serial
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lib_deps =
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../
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[env:esp32dev]
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platform = espressif32
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board = esp32dev
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framework = arduino
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microros_transport = serial
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lib_deps =
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../
82+
83+
[env:nanorp2040connect]
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platform = raspberrypi
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board = nanorp2040connect
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framework = arduino
87+
microros_transport = serial
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lib_deps =
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../
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; Ethernet platforms
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93+
[env:teensy41_eth]
94+
platform = teensy
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board = teensy41
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framework = arduino
97+
microros_transport = native_ethernet
98+
lib_deps =
99+
../
100+
arduino-libraries/Ethernet@^2.0.0
101+
SPI
102+
103+
[env:nanorp2040connect_eth]
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platform = raspberrypi
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board = nanorp2040connect
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framework = arduino
107+
microros_transport = native_ethernet
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lib_deps =
109+
../
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arduino-libraries/Ethernet@^2.0.0
111+
SPI
112+
113+
; WiFi platforms
114+
115+
[env:portenta_h7_m7_wifi]
116+
platform = ststm32
117+
board = portenta_h7_m7
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framework = arduino
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microros_transport = wifi
120+
build_flags =
121+
-DF_CPU=16000000L
122+
lib_deps =
123+
../
124+
arduino-libraries/WiFi@^1.2.7
125+
SPI
126+
127+
[env:esp32dev_wifi]
128+
platform = espressif32
129+
board = esp32dev
130+
framework = arduino
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microros_transport = wifi
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lib_deps =
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../
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arduino-libraries/WiFi@^1.2.7
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SPI

examples/micro-ros_publisher/micro-ros_publisher.ino renamed to ci/src/main.cpp

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#include <micro_ros_arduino.h>
1+
#include <Arduino.h>
2+
3+
#include <micro_ros_platformio.h>
24

35
#include <stdio.h>
46
#include <rcl/rcl.h>
@@ -30,20 +32,40 @@ void error_loop(){
3032
}
3133

3234
void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
33-
{
35+
{
3436
RCLC_UNUSED(last_call_time);
3537
if (timer != NULL) {
3638
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
37-
msg.data++;
39+
msg.data = 555;
3840
}
3941
}
4042

4143
void setup() {
42-
set_microros_transports();
43-
44+
45+
#if defined(MICRO_ROS_TRANSPORT_SERIAL)
46+
set_microros_serial_transports();
47+
#elif defined(MICRO_ROS_TRANSPORT_NATIVE_ETHERNET)
48+
byte local_mac[] = { 0xAA, 0xBB, 0xCC, 0xEE, 0xDD, 0xFF };
49+
IPAddress local_ip(192, 168, 1, 177);
50+
IPAddress agent_ip(192, 168, 1, 113);
51+
size_t agent_port = 8888;
52+
53+
set_microros_native_ethernet_transports(local_mac, local_ip, agent_ip, agent_port);
54+
#elif defined(MICRO_ROS_TRANSPORT_WIFI)
55+
IPAddress agent_ip(192, 168, 1, 113);
56+
size_t agent_port = 8888;
57+
58+
char ssid[] = "WIFI_SSID";
59+
char psk[]= "WIFI_PSK";
60+
61+
set_microros_wifi_transports(ssid, psk, agent_ip, agent_port);
62+
#else
63+
#error "No transport defined"
64+
#endif
65+
4466
pinMode(LED_PIN, OUTPUT);
45-
digitalWrite(LED_PIN, HIGH);
46-
67+
digitalWrite(LED_PIN, HIGH);
68+
4769
delay(2000);
4870

4971
allocator = rcl_get_default_allocator();
@@ -62,7 +84,7 @@ void setup() {
6284
"micro_ros_arduino_node_publisher"));
6385

6486
// create timer,
65-
const unsigned int timer_timeout = 1000;
87+
const unsigned int timer_timeout = 1;
6688
RCCHECK(rclc_timer_init_default(
6789
&timer,
6890
&support,
@@ -77,6 +99,5 @@ void setup() {
7799
}
78100

79101
void loop() {
80-
delay(100);
81102
RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
82-
}
103+
}

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