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Mbed initial support (#266)
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‎.github/workflows/ci.yml‎

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configuration: weather_publisher
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binary: 'firmware/bin/weather_publisher'
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- rtos: mbed
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platform: disco_l475vg_iot01a
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binary: 'firmware/micro_ros_mbed/cmake_build/mbed-microros.bin'
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steps:
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- uses: actions/checkout@v2
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with:
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- name: Dependencies
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run: |
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apt update
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apt install -y python3-colcon-metadata python3-pip
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# Install last version of CMake
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apt install -y apt-transport-https ca-certificates gnupg software-properties-common wget
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wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
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apt-add-repository 'deb https://apt.kitware.com/ubuntu/ focal main'
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apt-get update
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apt install -y python3-colcon-metadata python3-pip cmake
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rosdep update --rosdistro $ROS_DISTRO
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rosdep install -y --from-paths src --ignore-src -y
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‎.github/workflows/nightly.yml‎

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configuration: weather_publisher
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binary: 'firmware/bin/weather_publisher'
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- distro: rolling
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branch: main
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rtos: mbed
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platform: disco_l475vg_iot01a
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binary: 'firmware/micro_ros_mbed/cmake_build/mbed-microros.bin'
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steps:
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- uses: actions/checkout@v2
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with:
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- name: Dependencies
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run: |
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apt update
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apt install -y python3-colcon-metadata python3-pip
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# Install last version of CMake
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apt install -y apt-transport-https ca-certificates gnupg software-properties-common wget
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wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
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apt-add-repository 'deb https://apt.kitware.com/ubuntu/ focal main'
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apt-get update
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apt install -y python3-colcon-metadata python3-pip cmake
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rosdep update --rosdistro $ROS_DISTRO
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rosdep install -y --from-paths src --ignore-src -y
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‎README.md‎

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@@ -33,6 +33,7 @@ This package is the **official build system for micro-ROS**. It provides tools a
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| [Zephyr](https://www.zephyrproject.org/) | [ST B-L475E-IOT01A](https://docs.zephyrproject.org/latest/boards/arm/disco_l475_iot1/doc/index.html) | v2.4.99 | `zephyr discovery_l475_iot1` |
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| [Zephyr](https://www.zephyrproject.org/) | [ST Nucleo H743ZI](https://www.st.com/en/evaluation-tools/nucleo-h743zi.html) <sup>1</sup> | v2.4.99 | `zephyr nucleo_h743zi` |
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| [Zephyr](https://www.zephyrproject.org/) | [Zephyr emulator](https://docs.zephyrproject.org/2.3.0/boards/posix/native_posix/doc/index.html) | v2.4.99 | `zephyr host` |
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| [Mbed](https://os.mbed.com/) | [ST B-L475E-IOT01A](https://os.mbed.com/platforms/ST-Discovery-L475E-IOT01A/) | v6.6 | `mbed disco_l475vg_iot01a` |
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| - | Static library (.a) and headers (.h) <sup>3</sup> | - | `generate_lib` |
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| Linux | *Host <sup>2</sup>* | Ubuntu 18.04/20.04 | `host` |
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- a standalone **[micro-ROS component for ESP-IDF](https://github.com/micro-ROS/micro_ros_espidf_component)**: this package enables the integration of micro-ROS in any Espressif ESP32 IDF project.
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- a standalone **[micro-ROS module for Zephyr RTOS](https://github.com/micro-ROS/micro_ros_zephyr_module)**: this package enables the integration of micro-ROS in any Zephyr RTOS workspace.
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- a standalone **[micro-ROS module for Mbed RTOS](https://github.com/micro-ROS/micro_ros_mbed)**: this package enables the integration of micro-ROS in any Mbed RTOS workspace.
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- a precompiled set of **[Arduino IDE libraries](https://github.com/micro-ROS/micro_ros_arduino)**: this package enables the integration of micro-ROS in the Arduino IDE for some hardware platforms.
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# Dependencies
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mkdir uros_ws && cd uros_ws
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git clone -b master https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
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git clone -b main https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
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rosdep update && rosdep install --from-path src --ignore-src -y
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In summary, the supported configurations for transports are:
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| | NuttX | FreeRTOS | Zephyr |
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| ----------------------------- | :----------------: | :---------------: | :----------------: |
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| Olimex STM32-E407 | USB, UART, Network | UART, Network | USB, UART |
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| ST B-L475E-IOT01A | - | - | USB, UART, Network |
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| Crazyflie 2.1 | - | Custom Radio Link | - |
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| Espressif ESP32 | - | UART, WiFI UDP | - |
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| ST Nucleo F446RE <sup>1</sup> | - | UART | - |
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| ST Nucleo F446ZE <sup>1</sup> | - | UART | - |
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| ST Nucleo H743ZI <sup>1</sup> | - | - | UART |
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| ST Nucleo F746ZG <sup>1</sup> | - | UART | UART |
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| ST Nucleo F767ZI <sup>1</sup> | - | UART | - |
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| | NuttX | FreeRTOS | Zephyr | Mbed |
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| ----------------------------- | :----------------: | :---------------: | :----------------: | :----------------: |
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| Olimex STM32-E407 | USB, UART, Network | UART, Network | USB, UART | - |
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| ST B-L475E-IOT01A | - | - | USB, UART, Network | UART |
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| Crazyflie 2.1 | - | Custom Radio Link | - | - |
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| Espressif ESP32 | - | UART, WiFI UDP | - | - |
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| ST Nucleo F446RE <sup>1</sup> | - | UART | - | - |
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| ST Nucleo F446ZE <sup>1</sup> | - | UART | - | - |
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| ST Nucleo H743ZI <sup>1</sup> | - | - | UART | - |
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| ST Nucleo F746ZG <sup>1</sup> | - | UART | UART | - |
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| ST Nucleo F767ZI <sup>1</sup> | - | UART | - | - |
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*<sup>1</sup> Community supported, may have lack of official support*
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‎config/mbed/dev_ros2_packages.txt‎

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keep:
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none

‎config/mbed/dev_uros_packages.repos‎

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repositories:

‎config/mbed/generic/board.repos‎

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repositories:
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micro_ros_mbed:
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type: git
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url: https://github.com/micro-ROS/micro_ros_mbed
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version: main

‎config/mbed/generic/build.sh‎

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. $PREFIX/config/utils.sh
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export PATH=~/.local/bin:"$PATH"
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pushd $FW_TARGETDIR >/dev/null
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pushd micro_ros_mbed >/dev/null
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mbed-tools compile -m $PLATFORM -t GCC_ARM
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popd >/dev/null
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popd >/dev/null

‎config/mbed/generic/client_uros_packages.repos‎

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repositories:

‎config/mbed/generic/create.sh‎

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CMAKE_VERSION_NUMBER=$(cmake --version | grep "[0-9]*\.[0-9]*\.[0-9]*" | cut -d ' ' -f 3)
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CMAKE_VERSION_MAJOR_NUMBER=$(echo $CMAKE_VERSION_NUMBER | cut -d '.' -f 1)
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CMAKE_VERSION_MINOR_NUMBER=$(echo $CMAKE_VERSION_NUMBER | cut -d '.' -f 2)
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CMAKE_VERSION_PATCH_NUMBER=$(echo $CMAKE_VERSION_NUMBER | cut -d '.' -f 3)
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if ! (( $CMAKE_VERSION_MAJOR_NUMBER > 3 || \
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$CMAKE_VERSION_MAJOR_NUMBER == 3 && $CMAKE_VERSION_MINOR_NUMBER > 19 || \
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$CMAKE_VERSION_MAJOR_NUMBER == 3 && $CMAKE_VERSION_MINOR_NUMBER == 19 && $CMAKE_VERSION_PATCH_NUMBER >= 0 )); then
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echo "Error: installed CMake version must be equal or greater than 3.19.0."
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echo "Your current version is $CMAKE_VERSION_NUMBER."
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echo "Please if not installed follow the instructions: https://apt.kitware.com/"
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exit 1
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fi
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export PATH=~/.local/bin:"$PATH"
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pushd $FW_TARGETDIR >/dev/null
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pip3 install mbed-tools
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# Import repos
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vcs import --input $PREFIX/config/$RTOS/generic/board.repos
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pushd micro_ros_mbed >/dev/null
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mbed-tools deploy
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pip3 install -r mbed-os/requirements.txt
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popd >/dev/null
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# TODO (pablogs): Avoid current approach and rely on the standalone module
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# rm -rf dev_ws mcu_ws
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popd >/dev/null

‎config/mbed/generic/flash.sh‎

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. $PREFIX/config/utils.sh
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export PATH=~/.local/bin:"$PATH"
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pushd $FW_TARGETDIR >/dev/null
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pushd micro_ros_mbed >/dev/null
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mbed-tools compile -m DISCO_L475VG_IOT01A -t GCC_ARM -f
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popd >/dev/null
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popd >/dev/null

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