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如何生成一个microros库
step1 在linux上安装ROS2
install ROS 2 Humble Hawksbill on your Ubuntu （如果ubuntu版本不对，安装foxy或者galactic）
Ubuntu (Debian packages) — ROS 2 Documentation: Humble documentation
step2 下载microros 代码
R O S D I S T R O 为 R O S 2 版本，如果安装的是 ∗ ∗ H u m b l e ，就在下面第一步用 H u m b l e 代替 ∗ ∗ ROS_DISTRO 为ROS2版本，如果安装的是**Humble ，就在下面第一步用Humble 代替** ROSDISTRO为ROS2版本，如果安装的是∗∗Humble，就在下面第一步用Humble代替∗∗ROS_DISTRO，其他不变
# Source the ROS 2 installationsource /opt/ros/$ROS_DISTRO/setup.bash# Create a workspace and download the micro-ROS toolsmkdir microros_ws
cd microros_ws
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup# Update dependencies using rosdepsudo apt update&& rosdep update
rosdep install --from-paths src --ignore-src -y# Install pipsudo apt-get install python3-pip# Build micro-ROS tools and source them
colcon build
source install/local_setup.bash
step3 Creating a new firmware workspace
我们要生成一个通用库，所以是create generate_lib firmware
ros2 run micro_ros_setup create_firmware_ws.sh generate_lib
此步是给generate_lib下载需要的source code
step4 将source编译成library
- create Cmake toolchain
touch my_custom_toolchain.cmake
touch my_custom_colcon.meta
- demo cmake and meta
CMAKE
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_CROSSCOMPILING 1)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)*# SET HERE THE PATH TO YOUR C99 AND C++ COMPILERS*
set(CMAKE_C_COMPILER gcc)
set(CMAKE_CXX_COMPILER g++)set(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
set(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")*# SET HERE YOUR BUILDING FLAGS*set(FLAGS "-O2 -ffunction-sections -fdata-sections -fno-exceptions -mcpu=cortex-m3 -nostdlib -mthumb --param max-inline-insns-single=500 -DF_CPU=84000000L -D'RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_NONE'" CACHE STRING "" FORCE)set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS_INIT "-std=c++11 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)set(__BIG_ENDIAN__ 0)
-
Cmake 配置硬件编译参数
CMAKE_C_COMPILER 和CMAKE_CXX_COMPILER 配置交叉编译器 PATH/gxxx
CMAKE_C_FLAGS_INIT /CMAKE_CXX_FLAGS_INIT 用来配置编译环境变量
特别要注意一点，编译库的时候尽量使用-nostdlib，让编译器在link阶段去找stdlib。
META
{"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_NO_64_ATOMIC=ON","-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"]},"microxrcedds_client": {"cmake-args": ["-DUCLIENT_PIC=OFF","-DUCLIENT_PROFILE_UDP=OFF","-DUCLIENT_PROFILE_TCP=OFF","-DUCLIENT_PROFILE_DISCOVERY=OFF","-DUCLIENT_PROFILE_SERIAL=OFF","-UCLIENT_PROFILE_STREAM_FRAMING=ON","-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON"]},"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","-DRMW_UXRCE_TRANSPORT=custom"]}}
}
-
Meta对microros 源代码的配置
这个文件主要使用编译源代码中的宏定义
如：
"-DRMW_UXRCE_MAX_NODES=1", # 定义了控制器最大创建的节点数"-DRMW_UXRCE_MAX_PUBLISHERS=5", # 定义了控制器最大创建的发布数"-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5", # 定义了控制器最大创建的订阅数"-DRMW_UXRCE_MAX_SERVICES=1", # 定义了控制器最大创建的服务数"-DRMW_UXRCE_MAX_CLIENTS=1", # 定义了控制器最大创建的客户端数
- Building the custom library
ros2 run micro_ros_setup build_firmware.sh $(pwd)/my_custom_toolchain.cmake $(pwd)/my_custom_colcon.meta
我们能在文件夹firmware/build/中找到libmicroros.a 和include
只要将这些集成到工程就可以实现microros的集成。
集成参考(makefile版本)：
GLOBAL_INCLUDES += $(LOCAL_DIR)/include
GLOBAL_MODULE_LDFLASS += -L$(LOCAL_DIR) -lmicroros
参考连接：
Creating custom static micro-ROS library
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