Merge pull request #2 from micro-ROS/main

sync

.github/actions/platformio-env/action.yml

@@ -8,7 +8,8 @@ runs:
       run: |
         apt update
         export DEBIAN_FRONTEND=noninteractive
-        apt install -y git curl python3 python3-pip git cmake
-        python3 -c "$(curl -fsSL https://raw.githubusercontent.com/platformio/platformio/master/scripts/get-platformio.py)"
+        apt install -y git curl python3 python3-pip python3-venv git cmake
+        curl -fsSL -o get-platformio.py https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py
+        python3 get-platformio.py
         echo 'export PATH=$PATH:~/.platformio/penv/bin' >> ~/.bashrc
 

.github/workflows/ci.yml

@@ -8,13 +8,13 @@ on:
 jobs:
 
     micro_ros_platformio:
-        runs-on: ubuntu-20.04
-        container: ubuntu:20.04
+        runs-on: ubuntu-22.04
+        container: ubuntu:22.04
 
         strategy:
           fail-fast: false
           matrix:
-            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, portenta_h7_m7_galactic, portenta_h7_m7_foxy, portenta_h7_m7_rolling, teensy41_custom, pico]
+            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, portenta_h7_m7_humble, portenta_h7_m7_rolling, teensy41_custom, pico]
 
         steps:
         - uses: actions/checkout@v3

CHANGELOG.rst

@@ -2,6 +2,20 @@
 Changelog for package micro_ros_platformio
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.0.0 (2023-06-12)
+------------------
+* Iron release (`#102 <https://github.com/micro-ROS/micro_ros_platformio/issues/102>`_)
+* Update rolling sources (`#99 <https://github.com/micro-ROS/micro_ros_platformio/issues/99>`_)
+* Set rmw default implementation (`#62 <https://github.com/micro-ROS/micro_ros_platformio/issues/62>`_)
+* Add rosidl_core (`#54 <https://github.com/micro-ROS/micro_ros_platformio/issues/54>`_)
+* Fix Arduino with POSIX (`#48 <https://github.com/micro-ROS/micro_ros_platformio/issues/48>`_)
+* Fix generation of idedata (`#44 <https://github.com/micro-ROS/micro_ros_platformio/issues/44>`_)
+* micro_ros_platformio works on Raspberry Pi Pico (`#39 <https://github.com/micro-ROS/micro_ros_platformio/issues/39>`_)
+* Fix native ethernet (`#37 <https://github.com/micro-ROS/micro_ros_platformio/issues/37>`_)
+* Fix user meta path (`#34 <https://github.com/micro-ROS/micro_ros_platformio/issues/34>`_)
+* Fix project environment modifications (`#36 <https://github.com/micro-ROS/micro_ros_platformio/issues/36>`_)
+* Fix wifi transport setup (`#29 <https://github.com/micro-ROS/micro_ros_platformio/issues/29>`_)
+
 1.0.0 (2022-05-25)
 ------------------
 * Add humble as default ROS2 distro (`#27 <https://github.com/micro-ROS/micro_ros_platformio/issues/27>`_)

README.md

@@ -52,6 +52,17 @@ The community is encouraged to open pull request with custom use cases.
   ```bash
   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](https://www.gnu.org/software/binutils/) using [Homebrew](https://brew.sh/):
+
+```bash
+brew install binutils
+```
 
 ## How to add to your project
 
@@ -84,10 +95,9 @@ 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` *(default value)*
-  - `galactic`
+  - `humble`
+  - `iron` *(default value)*
   - `rolling`
-  - `foxy`
 
 ### Transport configuration
 The transport can be configured with the `board_microros_transport = <transport>`, supported values and configurations are:
@@ -207,7 +217,7 @@ It is also possible to use custom transports on a `micro-XRCE Agent` instance. M
 ## Examples
 A simple publisher project using serial transport is available on the [examples](./examples) directory, this examples is meant to be modified with the user board.
 
-- More micro-ROS usage examples are available on [micro-ROS-demos/rclc](https://github.com/micro-ROS/micro-ROS-demos/tree/galactic/rclc).
+- More micro-ROS usage examples are available on [micro-ROS-demos/rclc](https://github.com/micro-ROS/micro-ROS-demos/tree/iron/rclc).
 - For a complete micro-ROS tutorial, check [Programming with rcl and rclc](https://micro.ros.org/docs/tutorials/programming_rcl_rclc/overview/) documentation.
 
 ## Purpose of the Project

ci/extra_packages/extra_packages.repos

@@ -2,4 +2,4 @@ repositories:
   control_msgs:
     type: git
     url: https://github.com/ros-controls/control_msgs
-    version: galactic-devel
+    version: humble

ci/platformio.ini

@@ -1,20 +1,10 @@
-; Galactic test
-[env:portenta_h7_m7_galactic]
+; Humble test
+[env:portenta_h7_m7_humble]
 platform = ststm32
 board = portenta_h7_m7
 framework = arduino
 board_microros_transport = serial
-board_microros_distro = galactic
-lib_deps =
-    ../
-
-; Foxy test
-[env:portenta_h7_m7_foxy]
-platform = ststm32
-board = portenta_h7_m7
-framework = arduino
-board_microros_transport = serial
-board_microros_distro = foxy
+board_microros_distro = humble
 lib_deps =
     ../
 

extra_script.py

@@ -34,8 +34,8 @@
 
 selected_board_meta = boards_metas[board] if board in boards_metas else "colcon.meta"
 
-# Retrieve the required transport. Default humble
-microros_distro = global_env.BoardConfig().get("microros_distro", "humble")
+# Retrieve the required transport. Default iron
+microros_distro = global_env.BoardConfig().get("microros_distro", "iron")
 
 # Retrieve the required transport. Default serial
 microros_transport = global_env.BoardConfig().get("microros_transport", "serial")
@@ -97,7 +97,8 @@ def build_microros(*args, **kwargs):
         "{} {} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='".format(' '.join(env['CXXFLAGS']), ' '.join(env['CCFLAGS']))
     )
 
-    builder = library_builder.Build(library_folder=main_path, packages_folder=extra_packages_path, distro=microros_distro)
+    python_env_path = env['PROJECT_CORE_DIR'] + "/penv/bin/activate"
+    builder = library_builder.Build(library_folder=main_path, packages_folder=extra_packages_path, distro=microros_distro, python_env=python_env_path)
     builder.run('{}/metas/{}'.format(main_path, selected_board_meta), cmake_toolchain.path, microros_user_meta)
 
     #######################################################
@@ -135,6 +136,9 @@ def update_env():
         main_path + "/platform_code",
         main_path + "/platform_code/{}/{}".format(framework, microros_transport)])
 
+    if (board == "teensy31" or board == "teensy35" or board == "teensy36"):
+        projenv.Append(LINKFLAGS=["--specs=nosys.specs"])
+
     # Add micro-ROS defines to user application
     projenv.Append(CPPDEFINES=[('MICRO_ROS_TRANSPORT_{}_{}'.format(framework.upper(), microros_transport.upper()), 1)])
     projenv.Append(CPPDEFINES=[('MICRO_ROS_DISTRO_{} '.format(microros_distro.upper()), 1)])

metas/common.meta

@@ -14,8 +14,7 @@
         "rcl": {
             "cmake-args": [
                 "-DBUILD_TESTING=OFF",
-                "-DRCL_COMMAND_LINE_ENABLED=OFF",
-                "-DRCL_LOGGING_ENABLED=OFF"
+                "-DRCL_MICROROS=ON"
             ]
         },
         "rcutils": {

microros_utils/library_builder.py

@@ -33,7 +33,7 @@ def __init__(self, path, cc, cxx, ar, cflags, cxxflags):
         self.path = os.path.realpath(file.name)
 
 class Build:
-    def __init__(self, library_folder, packages_folder, distro):
+    def __init__(self, library_folder, packages_folder, distro, python_env):
         self.library_folder = library_folder
         self.packages_folder = packages_folder
         self.build_folder = library_folder + "/build"
@@ -51,10 +51,11 @@ def __init__(self, library_folder, packages_folder, distro):
         self.library = self.library_path + "/libmicroros.a"
         self.includes = self.library_path+ '/include'
         self.library_name = "microros"
+        self.python_env = python_env
         self.env = {}
 
     def run(self, meta, toolchain, user_meta = ""):
-        if os.path.exists(self.library_path):
+        if os.path.exists(self.library):
             print("micro-ROS already built")
             return
 
@@ -99,7 +100,7 @@ def download_dev_environment(self):
 
     def build_dev_environment(self):
         print("Building micro-ROS dev dependencies")
-        command = "cd {} && colcon build --cmake-args -DBUILD_TESTING=OFF".format(self.dev_folder)
+        command = "cd {} && . {} && colcon build --cmake-args -DBUILD_TESTING=OFF -DPython3_EXECUTABLE=`which python`".format(self.dev_folder, self.python_env)
         result = run_cmd(command, env=self.env)
 
         if 0 != result.returncode:
@@ -173,7 +174,7 @@ def build_mcu_environment(self, meta_file, toolchain_file, user_meta = ""):
         print("Building micro-ROS library")
 
         common_meta_path = self.library_folder + '/metas/common.meta'
-        colcon_command = 'colcon build --merge-install --packages-ignore-regex=.*_cpp --metas {} {} {} --cmake-args -DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF  -DTHIRDPARTY=ON  -DBUILD_SHARED_LIBS=OFF  -DBUILD_TESTING=OFF  -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE={}'.format(common_meta_path, meta_file, user_meta, toolchain_file)
+        colcon_command = '. {} && colcon build --merge-install --packages-ignore-regex=.*_cpp --metas {} {} {} --cmake-args -DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF  -DTHIRDPARTY=ON  -DBUILD_SHARED_LIBS=OFF  -DBUILD_TESTING=OFF  -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE={} -DPython3_EXECUTABLE=`which python`'.format(self.python_env, common_meta_path, meta_file, user_meta, toolchain_file)
         command = "cd {} && . {}/install/setup.sh && {}".format(self.mcu_folder, self.dev_folder, colcon_command)
         result = run_cmd(command, env=self.env)
 
@@ -182,6 +183,7 @@ def build_mcu_environment(self, meta_file, toolchain_file, user_meta = ""):
             sys.exit(1)
 
     def package_mcu_library(self):
+        binutils_path = self.resolve_binutils_path()
         aux_folder = self.build_folder + "/aux"
 
         shutil.rmtree(aux_folder, ignore_errors=True)
@@ -193,12 +195,12 @@ def package_mcu_library(self):
                 if f.endswith('.a'):
                     os.makedirs(aux_folder + "/naming", exist_ok=True)
                     os.chdir(aux_folder + "/naming")
-                    os.system("ar x {}".format(root + "/" + f))
+                    os.system("{}ar x {}".format(binutils_path, root + "/" + f))
                     for obj in [x for x in os.listdir() if x.endswith('obj')]:
                         os.rename(obj, '../' + f.split('.')[0] + "__" + obj)
 
         os.chdir(aux_folder)
-        command = "ar rc libmicroros.a $(ls *.o *.obj 2> /dev/null); rm *.o *.obj 2> /dev/null; ranlib libmicroros.a"
+        command = "{binutils}ar rc libmicroros.a $(ls *.o *.obj 2> /dev/null); rm *.o *.obj 2> /dev/null; {binutils}ranlib libmicroros.a".format(binutils=binutils_path)
         result = run_cmd(command)
 
         if 0 != result.returncode:
@@ -211,13 +213,24 @@ def package_mcu_library(self):
         shutil.copytree(self.build_folder + "/mcu/install/include", self.includes)
 
         # Fix include paths
-        if self.distro not in ["galactic", "foxy"]:
-            include_folders = os.listdir(self.includes)
+        include_folders = os.listdir(self.includes)
 
-            for folder in include_folders:
-                folder_path = self.includes + "/{}".format(folder)
-                repeated_path = folder_path + "/{}".format(folder)
+        for folder in include_folders:
+            folder_path = self.includes + "/{}".format(folder)
+            repeated_path = folder_path + "/{}".format(folder)
 
-                if os.path.exists(repeated_path):
-                    shutil.copytree(repeated_path, folder_path, copy_function=shutil.move, dirs_exist_ok=True)
-                    shutil.rmtree(repeated_path)
+            if os.path.exists(repeated_path):
+                shutil.copytree(repeated_path, folder_path, copy_function=shutil.move, dirs_exist_ok=True)
+                shutil.rmtree(repeated_path)
+
+    def resolve_binutils_path(self):
+        if sys.platform == "darwin":
+            homebrew_binutils_path = "/opt/homebrew/opt/binutils/bin/"
+            if os.path.exists(homebrew_binutils_path):
+                return homebrew_binutils_path
+
+            print("ERROR: GNU binutils not found. ({}) Please install binutils with homebrew: brew install binutils"
+                  .format(homebrew_binutils_path))
+            sys.exit(1)
+
+        return ""