Skip to content

Updated Nuttx build system for Foxy #133

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
jamoralp merged 5 commits into from
Jul 21, 2020
Merged

Updated Nuttx build system for Foxy #133

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
421a201
Updated Micro-CDR branch
pablogs9 Jun 16, 2020
6829c13
Updates
pablogs9 Jun 16, 2020
89d7c10
Managing flash in micro-ROS
pablogs9 Jun 17, 2020
0339dec
Added no thread support for rcutils
pablogs9 Jul 20, 2020
8546245
Fix metas
pablogs9 Jul 21, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion micro_ros_setup/config/freertos/crazyflie21/client_uros_packages.repos
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ repositories:
eProsima/Micro-CDR:
type: git
url: https://github.com/eProsima/Micro-CDR.git
version: dashing
version: foxy
eProsima/Micro-XRCE-DDS-Client:
type: git
url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
Expand Down
2 changes: 1 addition & 1 deletion micro_ros_setup/config/freertos/olimex-stm32-e407/client_uros_packages.repos
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ repositories:
eProsima/Micro-CDR:
type: git
url: https://github.com/eProsima/micro-CDR.git
version: dashing
version: foxy
eProsima/Micro-XRCE-DDS-Client:
type: git
url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
Expand Down
2 changes: 1 addition & 1 deletion micro_ros_setup/config/host/generic/client_host_packages.repos
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ repositories:
eProsima/Micro-CDR:
type: git
url: https://github.com/eProsima/Micro-CDR.git
version: dashing
version: foxy
eProsima/Micro-XRCE-DDS-Client:
type: git
url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
Expand Down
28 changes: 20 additions & 8 deletions micro_ros_setup/config/nuttx/generic/client-colcon.meta
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,25 +1,37 @@
{
"names": {
"tracetools": {
"cmake-args": [
"-DTRACETOOLS_DISABLED=ON",
"-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
]
},
"rcutils": {
"cmake-args": [
"-DENABLE_TESTING=OFF"
"-DENABLE_TESTING=OFF",
"-DRCUTILS_NO_THREAD_SUPPORT=ON"
]
},
"rcl": {
"cmake-args": [
"-DRCL_LOGGING_ENABLED=OFF"
]
},
"microxrcedds_client":{
"cmake-args":[
"cmake-args": [
"-DUCLIENT_PIC=OFF",
"-DUCLIENT_PROFILE_DISCOVERY=OFF",
"-DUCLIENT_PROFILE_TCP=OFF"
]
},
"rmw_microxrcedds":{
"cmake-args":[
"cmake-args": [
"-DRMW_UXRCE_MAX_NODES=1",
"-DRMW_UXRCE_MAX_PUBLISHERS_X_NODE=2",
"-DRMW_UXRCE_MAX_SUBSCRIPTIONS_X_NODE=1",
"-DRMW_UXRCE_MAX_SERVICES_X_NODE=1",
"-DRMW_UXRCE_MAX_CLIENTS_X_NODE=1",
"-DRMW_UXRCE_MAX_HISTORY=1",
"-DRMW_UXRCE_MAX_PUBLISHERS=1",
"-DRMW_UXRCE_MAX_SUBSCRIPTIONS=1",
"-DRMW_UXRCE_MAX_SERVICES=1",
"-DRMW_UXRCE_MAX_CLIENTS=1",
"-DRMW_UXRCE_MAX_HISTORY=4",
"-DRMW_UXRCE_XML_BUFFER_LENGTH=400"
]
}
Expand Down
22 changes: 17 additions & 5 deletions micro_ros_setup/config/nuttx/generic/client_uros_packages.repos
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,18 @@ repositories:
eProsima/Micro-CDR:
type: git
url: https://github.com/eProsima/Micro-CDR.git
version: dashing
version: foxy
eProsima/Micro-XRCE-DDS-Client:
type: git
url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
version: foxy

# MicroROS

uros/rcl:
type: git
url: https://github.com/micro-ROS/rcl.git
version: feature/foxy_migration
uros/rclc:
type: git
url: https://github.com/micro-ROS/rclc.git
Expand All @@ -18,10 +22,6 @@ repositories:
type: git
url: https://github.com/micro-ROS/rmw-microxrcedds.git
version: feature/foxy_migration
uros/rosidl_typesupport_microxrcedds:
type: git
url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
version: feature/foxy_migration
uros/rcutils:
type: git
url: https://github.com/micro-ROS/rcutils.git
Expand All @@ -30,6 +30,18 @@ repositories:
type: git
url: https://github.com/micro-ROS/drive_base.git
version: master
uros/tracetools:
type: git
url: https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing
version: feature/foxy_migration
uros/rosidl_typesupport:
type: git
url: https://github.com/micro-ROS/rosidl_typesupport.git
version: feature/foxy_migration
uros/rosidl_typesupport_microxrcedds:
type: git
url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
version: feature/foxy_migration

# interim, until crosscompile fix is available in dashing branch
ros2/tinydir_vendor:
Expand Down
2 changes: 0 additions & 2 deletions micro_ros_setup/config/nuttx/generic/configure.sh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,5 +37,3 @@ make distclean
tools/configure.sh $CONFIG
popd >/dev/null

find $MCU_WS_DIR -name rmw_microxrcedds.config -exec \
sed -i "s/CONFIG_MICRO_XRCEDDS_TRANSPORT=udp/CONFIG_MICRO_XRCEDDS_TRANSPORT=serial/g" {} \;
7 changes: 7 additions & 0 deletions micro_ros_setup/config/nuttx/generic/create.sh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,13 @@ pushd $FW_TARGETDIR >/dev/null
touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
touch mcu_ws/ros2/rcl/rcl_action/COLCON_IGNORE

touch mcu_ws/ros2/rcl/COLCON_IGNORE
touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_c/COLCON_IGNORE
touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE

rosdep install -y --from-paths mcu_ws -i mcu_ws --rosdistro foxy --skip-keys="$SKIP"

popd >/dev/null
Expand Down
24 changes: 23 additions & 1 deletion micro_ros_setup/config/nuttx/generic/flash.sh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,28 @@ set -o pipefail

pushd $FW_TARGETDIR/NuttX > /dev/null

./scripts/flash.sh olimex-stm32-e407
if [ "$PLATFORM" = "olimex-stm32-e407" ]; then
if [ -f nuttx.bin ]; then
echo "Flashing firmware for $RTOS platform $PLATFORM"

if lsusb -d 15BA:002a; then
PROGRAMMER=interface/ftdi/olimex-arm-usb-tiny-h.cfg
elif lsusb -d 15BA:0003;then
PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd.cfg
elif lsusb -d 15BA:002b;then
PROGRAMMER=interface/ftdi/olimex-arm-usb-ocd-h.cfg
else
echo "Error. Unsuported OpenOCD USB programmer"
exit 1
fi

openocd -f $PROGRAMMER -f target/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx.bin 0x08000000" -c "reset" -c "exit"
else
echo "Nuttx/nuttx.bin not found: please compile before flashing."
fi
else
echo "Unrecognized board: $PLATFORM"
exit 1
fi

popd > /dev/null
5 changes: 0 additions & 5 deletions micro_ros_setup/config/zephyr/generic/client-colcon.meta
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,11 +26,6 @@
"-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
]
},
"tracetools": {
"cmake-args": [
"-DTRACETOOLS_DISABLED=ON"
]
},
"microxrcedds_client": {
"cmake-args": [
"-DUCLIENT_PIC=OFF"
Expand Down
2 changes: 1 addition & 1 deletion micro_ros_setup/config/zephyr/generic/client_uros_packages.repos
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ repositories:
eProsima/Micro-CDR:
type: git
url: https://github.com/eProsima/micro-CDR.git
version: dashing
version: foxy
eProsima/Micro-XRCE-DDS-Client:
type: git
url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
Expand Down