micro-ROS for STM32CubeMX/IDE

This tool aims to ease the micro-ROS integration in a STM32CubeMX/IDE project.

• micro-ROS for STM32CubeMX/IDE
  • Middlewares available
  • Using this package with STM32CubeMX
  • Using this package with STM32CubeIDE
    • Windows 11 (Community Contributed)
  • Transport configuration
    • U(S)ART with DMA
    • U(S)ART with Interrupts
    • USB CDC
    • UDP
  • Customizing the micro-ROS library
  • Adding custom packages
  • Purpose of the Project
  • License
  • Known Issues/Limitations

    Middlewares available

This package support the usage of micro-ROS on top of two different middlewares:

• eProsima Micro XRCE-DDS: the default micro-ROS middleware.
• embeddedRTPS: an experimental implementation of a RTPS middleware compatible with ROS 2. Instructions on how to use it available here.

Using this package with STM32CubeMX

1. Clone this repository in your STM32CubeMX project folder. A sample project can be generated with the provided sample_project.ioc.
2. Make sure that your STM32CubeMX project is using a Makefile toolchain under Project Manager -> Project
3. Make sure that if you are using FreeRTOS, the micro-ROS task has more than 10 kB of stack: Detail
4. Configure the transport interface on the STM32CubeMX project, check the Transport configuration section for instructions on the custom transports provided.

5. Modify the generated Makefile to include the following code before the build the application section:

   #######################################
   # micro-ROS addons
   #######################################
   LDFLAGS += micro_ros_stm32cubemx_utils/microros_static_library/libmicroros/libmicroros.a
   C_INCLUDES += -Imicro_ros_stm32cubemx_utils/microros_static_library/libmicroros/microros_include

   # Add micro-ROS utils
   C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/custom_memory_manager.c
   C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_allocators.c
   C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_time.c

   # Set here the custom transport implementation
   C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_transports/dma_transport.c

   print_cflags:
      @echo $(CFLAGS)
   

1. Execute the static library generation tool. Compiler flags will retrieved automatically from your Makefile and user will be prompted to check if they are correct.

   docker pull microros/micro_ros_static_library_builder:jazzy
   docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library microros/micro_ros_static_library_builder:jazzy
   

1. Modify your main.c to use micro-ROS. An example application can be found in sample_main.c.
2. Continue your usual workflow building your project and flashing the binary:

   make -j$(nproc)
   

Using this package with STM32CubeIDE

micro-ROS can be used with SMT32CubeIDE following these steps:

1. Clone this repository in your STM32CubeIDE project folder
2. Go to Project -> Settings -> C/C++ Build -> Settings -> Build Steps Tab and in Pre-build steps add:

   docker pull microros/micro_ros_static_library_builder:jazzy && docker run --rm -v ${workspace_loc:/${ProjName}}:/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library_ide microros/micro_ros_static_library_builder:jazzy
   

1. Add micro-ROS include directory. In Project -> Settings -> C/C++ Build -> Settings -> Tool Settings Tab -> MCU GCC Compiler -> Include paths add micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include
2. Add the micro-ROS precompiled library. In Project -> Settings -> C/C++ Build -> Settings -> MCU GCC Linker -> Libraries
   • add <ABSOLUTE_PATH_TO>/micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros in Library search path (-L)
   • add microros in Libraries (-l)
3. Add the following source code files to your project, dragging them to source folder:
   • extra_sources/microros_time.c
   • extra_sources/microros_allocators.c
   • extra_sources/custom_memory_manager.c
   • extra_sources/microros_transports/dma_transport.c or your transport selection.
4. Make sure that if you are using FreeRTOS, the micro-ROS task has more than 10 kB of stack: Detail
5. Configure the transport interface on the STM32CubeMX project, check the Transport configuration section for instructions on the custom transports provided.
6. Build and run your project

Windows 11 (Community Contributed)

micro-ROS can be used with SMT32CubeIDE in Windows 11 OS, following these steps:

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Changelog for package micro_ros_stmcube

5.0.1 (2024-06-03)

• Bump jazzy (#145)

• Add UDP transport (#134) (#135)

  • Add UDP transport

  * Apply suggestions from code review Co-authored-by: Pablo Garrido <<pablogs9@gmail.com>>

  • Update README and modify recv flag
  • Update udp_transport.c

  * Apply suggestions from code review Co-authored-by: Pablo Garrido <<pablogs9@gmail.com>>

  • Update udp_transport.c

  * Minor fixes on readme ---------Co-authored-by: Pablo Garrido <<pablogs9@gmail.com>> (cherry picked from commit 0dbe8b656cf48ef6b8194f047029711fc09cc9bb) Co-authored-by: Lion Hao <<haolion520@gmail.com>>

• Workaround to use STMCubeIDE in Windows 11 (backport #127) (#129) Co-authored-by: Pablo Garrido <<pablogs9@gmail.com>> Co-authored-by: Leonardo <<leogarberoglio@hotmail.com>>

• Contributors: Pablo Garrido, mergify[bot]

5.0.0 (2023-06-12)

• Add USB CDC transport (backport #89) (#93)
• Fix minor branches (#81)
• Improved repository clarity (#74) (#75)
• Fix USER_CUSTOM_PACKAGES_DIR (#67) (#68)
• microros_component/extra_packages support (#63) (#66)

4.0.0 (2022-05-25)

• Update banner (#56)
• Fix include paths (#47)
• Add check for NULL input pointer (#53) (#55)
• Fix broken pvPortReallocMicroROS() implementation (#48) (#49)
• Update STM32CubeMX micro-ROS library paths (backport #42) (#43)
• Fix embeddedRTPS build (#38)
• Fix embeddedRTPS repo (backport #33) (#34)
• Fix meta file selection and change rtps branch (backport #31) (#32)
• Add embeddedRTPS as experimental middleware (backport #29) (#30)
• Update library_generation.sh (#26) (#27)
• apt to apt-get (#20) (#22)
• multichange tool (#10) (#12)
• Initial Rolling port
• Suggested absolute path in step 4 (#9)
• multichange tool (#6)
• Add automated IDE support (#4)
• Add serial interrupt transport (#2)
• Update
• Update

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