Add RT-Thread Support

config/rtthread/README.md

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+# README
+
+## Overview
+
+This file is the entry point for building micro-ROS apps for [RT-thread](https://github.com/RT-Thread/rt-thread). RT-Thread was born in 2006, it is an open source, neutral, and community-based real-time operating system (RTOS). Now, it It already supports many architectures and  boards. 
+
+This project comes from   [Open Source Promotion Plan](https://summer-ospp.ac.cn/#/org/prodetail/22f330436) (OSPP) 2022.  The goal is to hope that micrROS can support RT-Thread real-time system.
+
+Now，The publisher and subscriber can be used normally in the RT-Thread system through serial transport.   The publisher  is ok hrough UDP transport and The publisher  has a little [problem](https://github.com/micro-ROS/micro_ros_setup/issues/576). 
+
+## Support
+
+* board:
+  * [STMH750-ART-Pi](https://github.com/RT-Thread-Studio/sdk-bsp-stm32h750-realthread-artpi)
+
+* transport：
+  * serial
+  * UDP
+* examples：
+  * publisher 
+  * subscriber
+
+## Test Environment
+
+* ROS 2 : galactic
+
+* boards： [STMH750-ART-Pi](https://github.com/RT-Thread-Studio/sdk-bsp-stm32h750-realthread-artpi).
+
+* RT-thread: v4.1.1
+* example： ping_pong
+
+## Usage
+
+### Creating micro-ROS firmware
+
+```bash
+ros2 run micro_ros_setup create_firmware_ws.sh rtthread art-pi
+```
+
+### Configuring micro-ROS firmware
+
+```bash
+ros2 run micro_ros_setup configure_firmware.sh [app name] [options]
+```
+
+Available apps：
+
+- `micro_ros_pub_int32.c`
+- `micro_ros_sub_int32.c`
+- `micro_ros_pub_sub_int32.c`
+- `micro_ros_ping_pong.c`
+
+available options:
+
+- `-d` :  agent string descriptor in a serial-like transport ;
+- `-i ` agent IP in a network-like transport   `-p` agent port in a network-like transport ;
+
+for example:
+
+```bash
+# serial
+ros2 run micro_ros_setup configure_firmware.sh  micro_ros_pub_int32.c -d vcom
+# UDP
+ros2 run micro_ros_setup configure_firmware.sh micro_ros_pub_int32.c -i 192.168.31.130 -p 9999
+```
+
+### Building micro-ROS
+
+```
+ros2 run micro_ros_setup build_firmware.sh
+```
+
+### Flashing micro-ROS
+
+```
+ros2 run micro_ros_setup flash_firmware.sh
+```
+
+## Feature
+
+* fix udp bug transport in publisher;
+* add service demo;
+

config/rtthread/dev_ros2_packages.txt

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+keep:
+  ament/ament_cmake
+  ament/ament_index
+  ament/ament_lint
+  ament/ament_package
+  ament/googletest
+  ament/osrf_pycommon
+  ament/uncrustify_vendor
+  ros2/ament_cmake_ros

config/rtthread/dev_uros_packages.repos

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+repositories:

config/rtthread/generic/build.sh

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+. $PREFIX/config/utils.sh
+
+MICROROS_DIR=$FW_TARGETDIR/sdk-bsp-stm32h750-realthread-artpi/projects/art_pi_wifi/micro-ROS-rtthread-app/microros
+BUILD_DIR=$MICROROS_DIR/build
+RTTHREAD_DIR=$FW_TARGETDIR/sdk-bsp-stm32h750-realthread-artpi/projects/art_pi_wifi
+COLCON_META=$FW_TARGETDIR/mcu_ws/colcon.meta
+
+X_CC=$FW_TARGETDIR/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-gcc
+X_CXX=$FW_TARGETDIR/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-g++
+CFLAGS_INTERNAL="-mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections -Dgcc -O2 -gdwarf-2 -g -std=c99"
+CXXFLAGS_INTERNAL="-mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections -Dgcc -O2 -gdwarf-2 -g"
+
+#Set up the cross-compilation chain
+ESCAPED_CFLAGS_INTERNAL=$(echo $CFLAGS_INTERNAL | sed 's/\//\\\//g' | sed 's/"//g')
+ESCAPED_CXXFLAGS_INTERNAL=$(echo $CXXFLAGS_INTERNAL | sed 's/\//\\\//g' | sed 's/"//g')
+ESCAPED_X_CC=$(echo $X_CC | sed 's/\//\\\//g' | sed 's/"//g')
+ESCAPED_X_CXX=$(echo $X_CXX | sed 's/\//\\\//g' | sed 's/"//g')
+
+cat $MICROROS_DIR/toolchain.cmake.in | \
+    sed "s/@CMAKE_C_COMPILER@/$ESCAPED_X_CC/g" | \
+    sed "s/@CMAKE_CXX_COMPILER@/$ESCAPED_X_CXX/g" | \
+    sed "s/@CFLAGS@/$ESCAPED_CFLAGS_INTERNAL/g" | \
+    sed "s/@CXXFLAGS@/$ESCAPED_CXXFLAGS_INTERNAL/g" \
+    > $MICROROS_DIR/toolchain.cmake
+
+#for rtthread 
+sed -i "27c EXEC_PATH   =r'$FW_TARGETDIR\/gcc-arm-none-eabi-5_4-2016q3\/bin\/'" $RTTHREAD_DIR/rtconfig.py
+
+
+pushd $FW_TARGETDIR/mcu_ws >/dev/null
+    rm -rf build install log
+
+	colcon build							\
+		--merge-install						\
+		--packages-ignore-regex=.*_cpp  	\
+		--metas ${COLCON_META} \
+		--cmake-args 						\
+		"--no-warn-unused-cli" 				\
+		-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF 	\
+		-DTHIRDPARTY=ON 					\
+		-DBUILD_SHARED_LIBS=OFF 			\
+		-DBUILD_TESTING=OFF					\
+		-DCMAKE_BUILD_TYPE=Debug 			\
+		-DCMAKE_TOOLCHAIN_FILE=$MICROROS_DIR/toolchain.cmake	 	\
+		-DCMAKE_VERBOSE_MAKEFILE=ON  		\
+
+
+    mkdir -p $FW_TARGETDIR/libmicroros; cd $FW_TARGETDIR/libmicroros;
+
+    for file in $(find $FW_TARGETDIR/mcu_ws/install/lib/ -name '*.a'); do \
+		folder=$(echo $file | sed -E "s/(.+)\/(.+).a/\2/"); \
+		mkdir -p $folder; cd $folder; ar x $file; \
+		for f in *; do \
+			mv $f ../$folder-$f; \
+		done; \
+		cd ..; rm -rf $folder; \
+	done ; \
+	ar rc libmicroros.a $(ls *.o *.obj 2> /dev/null); mkdir -p $BUILD_DIR; cp libmicroros.a $BUILD_DIR; \
+    cp -R $FW_TARGETDIR/mcu_ws/install/include $BUILD_DIR/; \
+	cd ..; rm -rf libmicroros;   
+popd >/dev/null
+
+# build for rtthread
+# modify build/rmw/types.h
+pushd $BUILD_DIR >/dev/null
+if ([ -d include ]); then
+
+	sed -i 's/# define RMW_DECLARE_DEPRECATED(name, msg) name __attribute__((deprecated(msg)))/# define RMW_DECLARE_DEPRECATED(name, msg) name/g' include/rmw/types.h
+
+fi
+popd >/dev/null
+# build for rtthread
+pushd $RTTHREAD_DIR >/dev/null
+
+	scons --target=vsc
+	scons
+
+	echo "build successful."
+	echo "Using project: $RTTHREAD_DIR"
+
+popd >/dev/null
+
+

config/rtthread/generic/client-colcon.meta

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+{
+    "names": {
+        "tracetools": {
+            "cmake-args": [
+                "-DTRACETOOLS_DISABLED=ON",
+                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
+            ]
+        },
+        "rosidl_typesupport": {
+            "cmake-args": [
+                "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON"
+            ]
+        },
+        "rcl": {
+            "cmake-args": [
+                "-DBUILD_TESTING=OFF",
+                "-DRCL_COMMAND_LINE_ENABLED=OFF",
+                "-DRCL_LOGGING_ENABLED=OFF"
+            ]
+        }, 
+        "rcutils": {
+            "cmake-args": [
+                "-DENABLE_TESTING=OFF",
+                "-DRCUTILS_NO_FILESYSTEM=ON",
+                "-DRCUTILS_NO_THREAD_SUPPORT=ON",
+                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON",
+                "-DRCUTILS_NO_64_ATOMIC=ON"
+            ]
+        },
+        "microxrcedds_client": {
+            "cmake-args": [
+                "-DUCLIENT_PIC=OFF",
+                "-DUCLIENT_PROFILE_DISCOVERY=OFF"
+            ]
+        },
+        "rmw_microxrcedds": {
+            "cmake-args": [
+                "-DRMW_UXRCE_MAX_NODES=1",
+                "-DRMW_UXRCE_MAX_PUBLISHERS=5",
+                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5",
+                "-DRMW_UXRCE_MAX_SERVICES=1",
+                "-DRMW_UXRCE_MAX_CLIENTS=1",
+                "-DRMW_UXRCE_MAX_HISTORY=4"
+            ]
+        }
+    }
+}

config/rtthread/generic/client_uros_packages.repos

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+repositories:
+  eProsima/Micro-CDR:
+    type: git
+    url: https://github.com/eProsima/Micro-CDR.git
+    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
+    version: galactic
+  uros/rclc:
+    type: git
+    url: https://github.com/ros2/rclc
+    version: galactic
+  uros/micro_ros_utilities:
+    type: git
+    url: https://github.com/micro-ROS/micro_ros_utilities
+    version: galactic
+  uros/rcutils:
+    type: git
+    url: https://github.com/micro-ROS/rcutils
+    version: galactic
+  uros/micro_ros_msgs:
+    type: git
+    url: https://github.com/micro-ROS/micro_ros_msgs.git
+    version: galactic
+  uros/rmw_microxrcedds:
+    type: git
+    url: https://github.com/micro-ROS/rmw-microxrcedds.git
+    version: galactic
+  uros/rosidl_typesupport:
+    type: git
+    url: https://github.com/micro-ROS/rosidl_typesupport.git
+    version: galactic
+  uros/rosidl_typesupport_microxrcedds:
+    type: git
+    url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
+    version: galactic
+  uros/tracetools:
+    type: git
+    url: https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/
+    version: galactic

config/rtthread/generic/configure.sh

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+. $PREFIX/config/utils.sh
+
+function help {
+      echo "Configure script need an argument."
+      echo "app -d|--dev  device"
+	  echo "app -i|--ip IP -p|--port port"
+}
+
+# if [ "$UROS_AGENT_DEVICE" ]; then
+# 	echo $UROS_AGENT_DEVICE
+
+# elif [ "$UROS_AGENT_IP" ] && [ "$UROS_AGENT_PORT" ]; then 
+# 	echo $UROS_AGENT_IP
+# 	echo $UROS_AGENT_PORT
+# else
+# 	help
+
+# fi
+# exit 1
+
+update_meta "microxrcedds_client" "UCLIENT_PROFILE_CUSTOM_TRANSPORT=ON"
+update_meta "microxrcedds_client" "UCLIENT_PROFILE_STREAM_FRAMING=ON"
+update_meta "microxrcedds_client" "UCLIENT_PROFILE_SERIAL=OFF"
+update_meta "microxrcedds_client" "UCLIENT_PROFILE_UDP=OFF"
+update_meta "microxrcedds_client" "UCLIENT_PROFILE_TCP=OFF"
+
+update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT=custom"
+
+# add macro definition for  cconfig.h
+RTT_PROJECT=$FW_TARGETDIR/sdk-bsp-stm32h750-realthread-artpi/projects/art_pi_wifi
+RTCONIF=rtconfig.h
+
+pushd $RTT_PROJECT >/dev/null
+
+
+
+	if [ "$UROS_AGENT_DEVICE" ]; then
+		# modify rtconfig.h
+		UROS_AGENT_DEVICE="${UROS_AGENT_DEVICE}" 
+		cp micro-ROS-rtthread-app/rtconfig.h 							$RTCONIF
+		echo "Using serial device."
+		echo "add macro definition for  rtconfig.h."
+		sed -i '$i #define USING_MICROROS ' 							$RTCONIF
+		sed -i '$i #define MICROROS_SERIAL ' 							$RTCONIF
+		sed -i '$i #define MICROROS_DEVIVE '\"${UROS_AGENT_DEVICE}\"'' 	$RTCONIF
+
+		echo "add macro: USING_MICROROS; MICROROS_SERIAL;"
+		echo "add macro: MICROROS_DEVIVE \"${UROS_AGENT_DEVICE}\" "
+
+	elif [ "$UROS_AGENT_IP" ] && [ "$UROS_AGENT_PORT" ]; then
+		cp micro-ROS-rtthread-app/rtconfig.h 							$RTCONIF
+		echo "Using udp device."
+		echo "add macro definition for  cconfig.h."
+		sed -i '$i #define USING_MICROROS ' 							$RTCONIF
+		sed -i '$i #define MICROROS_UDP ' 								$RTCONIF
+		sed -i '$i #define MICROROS_IP '\"$UROS_AGENT_IP\"' ' 			$RTCONIF
+		sed -i '$i #define MICROROS_PORT '$UROS_AGENT_PORT' ' 			$RTCONIF
+
+		echo "add macro: USING_MICROROS; MICROROS_UDP; "
+		echo "add macro: MICROROS_IP \"$UROS_AGENT_IP\""
+		echo "add macro:  MICROROS_PORT $UROS_AGENT_PORT"
+	else
+		help
+		exit 1
+	fi
+
+	if [ "$CONFIG_NAME" == "micro_ros_pub_int32.c" ]; then
+		sed -i '$i #define MICROS_EXAMPLE_PUB_INT32 ' 	$RTCONIF
+		echo "add macro: MICROS_EXAMPLE_PUB_INT32 "
+	elif [ "$CONFIG_NAME" == "micro_ros_sub_int32.c" ]; then
+		sed -i '$i #define MICROS_EXAMPLE_SUB_INT32 ' 	$RTCONIF
+		echo "add macro: define MICROS_EXAMPLE_SUB_INT32 "
+	elif [ "$CONFIG_NAME" == "micro_ros_pub_sub_int32.c" ]; then
+		sed -i '$i #define MICROS_EXAMPLE_PUB_SUB_INT32 ' 	$RTCONIF
+		echo "add macro:define MICROS_EXAMPLE_PUB_SUB_INT32 "
+	elif [ "$CONFIG_NAME" == "micro_ros_ping_pong.c" ]; then
+		sed -i '$i #define MICROS_EXAMPLE_PING_PONG ' 	$RTCONIF
+		echo "add macro:define MICROS_EXAMPLE_PING_PONG "
+	else
+		help
+		exit 1
+	fi
+
+	sed -i '21c source "micro-ROS-rtthread-app/Kconfig" ' 	Kconfig
+	echo 'add source :  source "micro-ROS-rtthread-app/Kconfig" --> Kconfig'
+popd >/dev/null