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

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Contributing

Want to contribute? Great! You can do so through the standard GitHub pull request model. For large contributions we do encourage you to file a ticket in the GitHub issues tracking system prior to any code development to coordinate with the system_modes development team early in the process. Coordinating up front helps to avoid frustration later on.

Your contribution must be licensed under the Apache-2.0 license, the license used by this project.

Add / retain copyright notices

Include a copyright notice and license in each new file to be contributed, consistent with the style used by this project. If your contribution contains code under the copyright of a third party, document its origin, license, and copyright holders.

Sign your work

This project tracks patch provenance and licensing using a modified Developer Certificate of Origin (DCO; from [OSDL][DCO]) and Signed-off-by tags initially developed by the Linux kernel project.

system_modes Developer's Certificate of Origin.  Version 1.0

By making a contribution to this project, I certify that:

(a) The contribution was created in whole or in part by me and I
    have the right to submit it under the "Apache License, Version 2.0"
    ("Apache-2.0"); or

(b) The contribution is based upon previous work that is covered by
    an appropriate open source license and I have the right under
    that license to submit that work with modifications, whether
    created in whole or in part by me, under the Apache-2.0 license;
    or

(c) The contribution was provided directly to me by some other
    person who certified (a) or (b) and I have not modified it.

(d) I understand and agree that this project and the contribution
    are public and that a record of the contribution (including all
    metadata and personal information I submit with it, including my
    sign-off) is maintained indefinitely and may be redistributed
    consistent with this project and the requirements of the Apache-2.0
    license or any open source license(s) involved, where they are
    relevant.

(e) I am granting the contribution to this project under the terms of
    Apache-2.0.

    http://www.apache.org/licenses/LICENSE-2.0

With the sign-off in a commit message you certify that you authored the patch or otherwise have the right to submit it under an open source license. The procedure is simple: To certify above system_modes Developer’s Certificate of Origin 1.0 for your contribution just append a line

Signed-off-by: Random J Developer <random@developer.example.org>

to every commit message using your real name or your pseudonym and a valid email address.

If you have set your user.name and user.email git configs you can automatically sign the commit by running the git-commit command with the -s option. There may be multiple sign-offs if more than one developer was involved in authoring the contribution.

For a more detailed description of this procedure, please see [SubmittingPatches][] which was extracted from the Linux kernel project, and which is stored in an external repository.

Individual vs. Corporate Contributors

Often employers or academic institution have ownership over code that is written in certain circumstances, so please do due diligence to ensure that you have the right to submit the code.

If you are a developer who is authorized to contribute to system_modes on behalf of your employer, then please use your corporate email address in the Signed-off-by tag. Otherwise please use a personal email address.

Maintain Copyright holder / Contributor list

Each contributor is responsible for identifying themselves in the NOTICE file, the project’s list of copyright holders and authors. Please add the respective information corresponding to the Signed-off-by tag as part of your first pull request.

If you are a developer who is authorized to contribute to system_modes on behalf of your employer, then add your company / organization to the list of copyright holders in the NOTICE file. As author of a corporate contribution you can also add your name and corporate email address as in the Signed-off-by tag.

If your contribution is covered by this project’s DCO’s clause “(c) The contribution was provided directly to me by some other person who certified

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