micro-ROS for freertos on ubuntu 18.04 version: dashing
Although host is ubuntu 18.04, we could still check out Foxy to build micro-ROS firmware. -- confirmed!
https://github.com/micro-ROS/micro_ros_setup
follow below steps:
setup suite: mkdir uros_ws && cd uros_ws git clone -b dashing https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
env4ros export ROS_DISTRO=foxy git -C src/micro_ros_setup checkout foxy rosdep update && rosdep install --from-path src --ignore-src -y git -C src/micro_ros_setup checkout dashing colcon build
cd uros_ws env4ros source install/local_setup.sh export ROS_DISTRO=foxy
patch1 install/micro_ros_setup/config/freertos/olimex-stm32-e407/create.sh to download toolchain tarball locally
ros2 run micro_ros_setup create_firmware_ws.sh freertos olimex-stm32-e407 you might encounter below msg, confirmed could be ignored.
WARNING: given --rosdistro dashing but ROS_DISTRO is "foxy". Ignoring environment. WARNING: ROS_PYTHON_VERSION is unset. Defaulting to 3 ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: rcutils: Cannot locate rosdep definition for [osrf_testing_tools_cpp] rcl: Cannot locate rosdep definition for [osrf_testing_tools_cpp] rosidl_typesupport_c: Cannot locate rosdep definition for [poco_vendor] rcl_lifecycle: Cannot locate rosdep definition for [osrf_testing_tools_cpp] rmw_implementation: Cannot locate rosdep definition for [poco_vendor] rosidl_default_generators: Cannot locate rosdep definition for [rosidl_generator_py] rosidl_default_runtime: Cannot locate rosdep definition for [rosidl_generator_py] rosidl_typesupport_cpp: Cannot locate rosdep definition for [poco_vendor] rcl_action: Cannot locate rosdep definition for [osrf_testing_tools_cpp] rcl_logging_noop: Cannot locate rosdep definition for [launch_testing]
ros2 run micro_ros_setup configure_firmware.sh int32_publisher --transport udp --ip 192.168.11.2 --port 4321
ros2 run micro_ros_setup build_firmware.sh
到这里 RTOS 上的 image 就已经生成了 we could extract XRCE-DDS ROS related lib src from generated folder. UROS_DIR = mcu_ws/
firmware/freertos_apps/microros_olimex_e407_extensions/build/libmicroros.a 13,901,386 Bytes after strip 2,253,254 Bytes
microROS foxy require ubuntu 20.04 But RealSense ROS2 node only support dashing, and libRealSense un-able to install on Ubuntu20.04, this is the conflict.
- install ROS2 foxy W/ code?
Installing ROS 2 on Ubuntu Linux — ROS 2 Documentation: Foxy documentation
mkdir -p ~/ROS2/foxy cd ~/ROS2/fox wget https://github.com/ros2/ros2/releases/download/release-foxy-20220208/ros2-foxy-20220208-linux-focal-amd64.tar.bz2 tar -xf *.tar.bz2
sudo apt update sudo apt install -y python3-rosdep sudo rosdep init rosdep update
rosdep install --os=ubuntu:focal --from-paths ~/ROS2/foxy/ros2-linux/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers"
- micro ROS
setup suite: mkdir uros_ws && cd uros_ws git clone -b dashing https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
env4ros export ROS_DISTRO=foxy git -C src/micro_ros_setup checkout foxy rosdep update && rosdep install --from-path src --ignore-src -y
colcon build
toolchain: /freertos_apps/microros_olimex_e407_extensions/arm_toolchain.cmake
intergrate libmicroros.a to A53Anony
cmake options for in firmware/mcu_ws/colcon.meta + app-colcon.meta
cd uros_ws\firmware\mcu_ws\install ls -l --time=ctime --time-style=+%H:%M:%S /lib/.a # all *.a for RTOS.
A53Anony toolchain to build libmicroros.a in micro_ros_setup
只有 dashing xrce-dds-client 需要手动切到 foxy 版本 才支持 FreeRTOS_Plus_TCP 单独 add RTOS-tcp support 到 dashing client elseif(PLATFORM_NAME STREQUAL "FreeRTOS_Plus_TCP") set(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP ON)
cd ~/ROS2/micros_ws env4ros $PWD #export ROS_DISTRO=foxy ros2 run micro_ros_setup create_firmware_ws.sh freertos intel-A53Anony ros2 run micro_ros_setup configure_firmware.sh int32_publisher --tran sport udp --ip 192.168.11.2 --port 4321 ros2 run micro_ros_setup build_firmware.sh 2>&1 | tee xx_A53Anony.log
-mthumb -marm
colcon build in shell --- xxx
[ -z $COLCON_PREFIX_PATH ] && echo "error no set microROS env"
export UROS_DIR=${COLCON_PREFIX_PATH}/../firmware/mcu_ws export UROS_APP_FOLDER=${UROS_DIR}/../freertos_apps/apps/int32_publisher export BUILD_TYPE=debug export EXTENSIONS_DIR=${UROS_DIR}/../freertos_apps/microros_intel_A53Anony_extensions
cd ${UROS_DIR};
colcon build
--packages-ignore-regex=.*_cpp
--metas
--cmake-args
-DCMAKE_POSITION_INDEPENDENT_CODE=OFF
-DTHIRDPARTY=ON
-DBUILD_SHARED_LIBS=OFF
-DBUILD_TESTING=OFF
-DCMAKE_BUILD_TYPE=${BUILD_TYPE}
-DCMAKE_TOOLCHAIN_FILE=${EXTENSIONS_DIR}/arm_toolchain.cmake
-DCMAKE_VERBOSE_MAKEFILE=ON;
libyaml build command: CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_uncrustify:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_xmllint:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_pyflakes:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_pep8:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_pep257:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_pclint:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_package:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_lint_cmake:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_flake8:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_copyright:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_lint:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_index_python:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_cpplint:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_cppcheck:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_clang_tidy:/home/zhous/ROS2/micros_ws/firmware/dev_ws/install/ament_clang_format mytag_args= *.h -o -name *.c -o -name *.inc -o -name *.hpp -o -name *.cpp -o -name *.S -o -name *.s /usr/bin/cmake --build /home/zhous/ROS2/micros_ws/firmware/mcu_ws/build/libyaml_vendor -- -j8 -l8
Toolchains #xcn="gcc-linaro-7.5.0-2019.12-x86_64_aarch64-elf.tar.xz" --- #xcn="gcc-arm-9.2-2019.12-x86_64-aarch64-none-elf.tar.xz" --- A53Anony
issue: rcutils
client-colcon.meta "-DRCUTILS_NO_LOGGING=ON
issue: FreeRTOS TCP ip stack support for microros dashing (ubuntu 18.04 only have dashing).
as xrcedds_client not support FreeRTOS_TCP IP stack in dashing(ubuntu18.04 only support dashing micro_ros suite)
mcu_ws/eProsima/Micro-XRCE-DDS-Client/
issue: rmw_microxrcedds not compatible W/ foxy xrcedds_client
add FreeRTOS tcp stack support base on dashing eProsima/micro-xrcedds-client.
issue: C++ STL list and string
make[3]: *** [CMakeFiles/rosidl_typesupport_c.dir/src/service_type_support_dispatch.cpp.obj] Error 1 In file included from /home/zhous/ROS2/micros_ws/firmware/mcu_ws/ros2/rosidl_typesupport/rosidl_typesupport_c/src/message_type_support_dispatch.cpp:17: /home/zhous/ROS2/micros_ws/firmware/mcu_ws/ros2/rosidl_typesupport/rosidl_typesupport_c/src/type_support_dispatch.hpp:23:10: fatal error: list: No such file or directory
force to disable "ROSIDL_TYPESUPPORT_C_USE_POCO" in CMakeLists.txt
sub-libs to 59
ld link issue: not sure to fix?
967:/home/zhous/ROS2/micros_ws/firmware/mcu_ws/uros/rcutils/src/error_handling.c:238:(.text.rcutils_error_is_set+0x10): relocation truncated to fit: R_AARCH64_CALL26 against undefined symbol __emutls_get_address' 970:/home/zhous/ROS2/micros_ws/firmware/mcu_ws/uros/rcutils/src/get_env.c:50:(.text.rcutils_get_env+0x4c): relocation truncated to fit: R_AARCH64_CALL26 against undefined symbol getenv'
zhous@NUC8i7HVK: intel-A53Anony$ cat client-colcon.meta { "names": { "rcutils": { "cmake-args": [ "-DENABLE_TESTING=OFF", "-DRCUTILS_NO_FILESYSTEM=ON", "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON", "-DRCUTILS_NO_THREAD_SUPPORT=ON", "-DRCUTILS_NO_LOGGING=ON" ] },