micro-ROS for PlatformIO

This is a micro-ROS library for bare metal projects based on platformIO.

The build process for ROS 2 and micro-ROS is based on custom meta-build system tools and CMake. PlatformIO will handle the full build process, including dependencies, compilation and linkage.

• micro-ROS for PlatformIO
  • Supported boards
  • Requirements
  • How to add to your project
  • Library configuration
    • ROS 2 distribution
    • Transport configuration
    • Extra packages
    • Other configuration
  • Extend library targets
    • Transport implementation
    • Time source
  • Using the micro-ROS Agent
  • Examples
  • Purpose of the Project
  • License
  • Known Issues/Limitations

Supported boards

Supported boards are:

* Community contributed

The community is encouraged to open pull request with custom use cases.

Requirements

• PlatformIO local installation or PlatformIO IDE for VSCode
• PlatformIO Core version 6.1.0 or greater
• PlatformIO needs git, cmake and pip3 to handle micro-ROS internal dependencies:

  apt install -y git cmake python3-pip
  

Platform specific requirements

MacOS

XCode command line tools are distributed with toolchain that is not fully compatible with micro-ROS build process. To fix this, install GNU binutils using Homebrew:

brew install binutils

How to add to your project

The library can be included as a regular git library dependence on your platform.ini file:

...
lib_deps =
    https://github.com/micro-ROS/micro_ros_platformio

Now to proceed with the PlatformIO workflow:

pio lib install # Install dependencies
pio run # Build the firmware
pio run --target upload # Flash the firmware

After the library is compiled for first time the build process will be skipped, to trigger a library build and apply library modifications on your next platformIO build:

pio run --target clean_microros  # Clean library

Library configuration

This section details the different configuration parameters available on the project platform.ini file. A explanation for adding custom targets is also present

ROS 2 distribution

The target ROS 2 distribution can be configured with the board_microros_distro = <distribution>, supported values are:

• humble

File truncated at 100 lines see the full file

Changelog for package micro_ros_platformio

2.0.0 (2023-06-12)

• Iron release (#102)
• Update rolling sources (#99)
• Set rmw default implementation (#62)
• Add rosidl_core (#54)
• Fix Arduino with POSIX (#48)
• Fix generation of idedata (#44)
• micro_ros_platformio works on Raspberry Pi Pico (#39)
• Fix native ethernet (#37)
• Fix user meta path (#34)
• Fix project environment modifications (#36)
• Fix wifi transport setup (#29)

1.0.0 (2022-05-25)

• Add humble as default ROS2 distro (#27)
• Allow custom transports (#21)
• Make clean_microros target be listed in IDE (#23)
• Add libmicroros directory to gitignore (#22)
• Add clean to source ROS2 (#25)
• Update banner (#19)
• Add foxy (#18)
• Add rolling (#17)
• Add examples (#16)
• Add clean step and build error checks (#15)
• Initial readme changes (#3)
• Fix transport selection (#11)
• Extra packages implementation (#12)
• Fix SCons interface (#10)
• Fix __attribute_ (#9)
• Fix Portenta H7 (#8)
• Fix RP2040 WiFi (#7)
• Add configurable Arduino Serial (#6)