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Initial Galactic changes (#319)
* Initial Galactic changes * Add general codeowner * Use rolling image * Use rolling docker a Use galactic container (#328)
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‎.github/CODEOWNERS‎

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* @pablogs9 @jamoralp @FranFin
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* @pablogs9 @jamoralp @Acuadros95
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config/freertos/nucleo_f446ze/ @alsaibie
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config/freertos/esp32/ @donRaphaco
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config/freertos/nucleo_f746zg/ @edesta-be

‎.github/ISSUE_TEMPLATE/general-issue.md‎

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- Hardware description: <!-- hardware where you are using micro-ROS -->
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- RTOS: <!-- RTOS where you are using micro-ROS -->
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- Installation type: <!-- micro_ros_setup, modules, etc -->
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- Version or commit hash: <!-- version of micro-ROS used: foxy, rolling -->
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- Version or commit hash: <!-- version of micro-ROS used: foxy, galactic, rolling -->
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#### Steps to reproduce the issue
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<!-- Detailed instructions on how to reliably reproduce this issue http://sscce.org/-->

‎.github/workflows/ci.yml‎

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micro_ros_build:
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runs-on: ubuntu-latest
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container: ros:rolling
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container: ros:galactic
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steps:
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- uses: actions/checkout@v2
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micro_ros_agent:
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runs-on: ubuntu-latest
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container: ros:rolling
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container: ros:galactic
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needs: micro_ros_build
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steps:
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micro_ros_client:
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runs-on: ubuntu-latest
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container: ros:rolling
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container: ros:galactic
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needs: micro_ros_build
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strategy:
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- name: Configure and build micro-ROS
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run: |
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. /opt/ros/rolling/setup.sh
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. /opt/ros/$ROS_DISTRO/setup.sh
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. install/local_setup.sh
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ros2 run micro_ros_setup create_firmware_ws.sh ${{ matrix.rtos }} ${{ matrix.platform }}
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ros2 run micro_ros_setup configure_firmware.sh ${{ matrix.configuration }} ${{ matrix.transport_arguments }}

‎.github/workflows/nightly.yml‎

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branch: foxy
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- distro: rolling
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branch: main
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- distro: galactic
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branch: galactic
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container: ros:${{ matrix.distro }}
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steps:
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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/DISCO_L475VG_IOT01A/develop/GCC_ARM/micro_ros_mbed.bin'
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- distro: galactic
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branch: galactic
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rtos: host
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platform: null
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configuration: null
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transport_arguments: null
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binary: 'install/micro_ros_demos_rclc/lib/micro_ros_demos_rclc/int32_publisher/int32_publisher'
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- distro: galactic
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branch: galactic
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rtos: generate_lib
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platform: null
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configuration: null
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transport_arguments: null
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build_arguments: $(pwd)/src/micro_ros_setup/config/generate_lib/generic/demo_toolchain.cmake
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binary: 'firmware/build/libmicroros.a'
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- distro: galactic
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branch: galactic
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rtos: freertos
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platform: crazyflie21
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configuration: crazyflie_position_publisher
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transport_arguments: -t serial -d 1
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binary: 'firmware/freertos_apps/microros_crazyflie21_extensions/cf2.bin'
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- distro: galactic
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branch: galactic
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rtos: freertos
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platform: olimex-stm32-e407
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configuration: int32_publisher
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transport_arguments: -t serial -d 1
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binary: 'firmware/freertos_apps/microros_olimex_e407_extensions/build/micro-ROS.elf'
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- distro: galactic
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branch: galactic
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rtos: freertos
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platform: nucleo_f446re
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configuration: int32_publisher
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transport_arguments: -t serial -d 1
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binary: 'firmware/freertos_apps/microros_nucleo_f446re_extensions/build/micro-ROS.elf'
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- distro: galactic
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branch: galactic
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rtos: freertos
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platform: nucleo_f446ze
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configuration: int32_publisher
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transport_arguments: -t serial -d 1
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binary: 'firmware/freertos_apps/microros_nucleo_f446ze_extensions/build/micro-ROS.elf'
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- distro: galactic
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branch: galactic
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rtos: freertos
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platform: nucleo_f746zg
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configuration: int32_publisher
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transport_arguments: -t serial -d 1
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binary: 'firmware/freertos_apps/microros_nucleo_f746zg_extensions/build/micro-ROS.elf'
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- distro: galactic
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branch: galactic
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rtos: freertos
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platform: nucleo_f767zi
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configuration: int32_publisher
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transport_arguments: -t serial -d 1
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binary: 'firmware/freertos_apps/microros_nucleo_f767zi_extensions/build/micro-ROS.elf'
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- distro: galactic
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branch: galactic
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rtos: freertos
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platform: esp32
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configuration: int32_publisher
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transport_arguments: -t serial -d 1
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binary: 'firmware/freertos_apps/microros_esp32_extensions/build/int32_publisher.elf'
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- distro: galactic
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branch: galactic
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rtos: zephyr
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platform: olimex-stm32-e407
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configuration: int32_publisher
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transport_arguments: -t serial-usb
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binary: 'firmware/build/zephyr/zephyr.bin'
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- distro: galactic
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branch: galactic
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rtos: zephyr
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platform: discovery_l475_iot1
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configuration: int32_publisher
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transport_arguments: -t serial-usb
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binary: 'firmware/build/zephyr/zephyr.bin'
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- distro: galactic
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branch: galactic
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rtos: zephyr
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platform: nucleo_h743zi
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configuration: int32_publisher
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transport_arguments: -t serial -d 3
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binary: 'firmware/build/zephyr/zephyr.bin'
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- distro: galactic
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branch: galactic
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rtos: zephyr
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platform: nucleo_f746zg
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configuration: int32_publisher
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transport_arguments: -t serial -d 3
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binary: 'firmware/build/zephyr/zephyr.bin'
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- distro: galactic
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branch: galactic
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rtos: zephyr
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platform: host
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configuration: ping_pong
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transport_arguments: -t udp -i 192.168.1.1 -p 8080
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binary: 'firmware/build/zephyr/zephyr.exe'
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- distro: galactic
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branch: galactic
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rtos: raspbian
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platform: buster_v7
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configuration: agent_lite
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binary: 'firmware/bin/micro_ros_agent_lite'
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- distro: galactic
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branch: galactic
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rtos: raspbian
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platform: buster_v7
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configuration: weather_publisher
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binary: 'firmware/bin/weather_publisher'
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- distro: galactic
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branch: galactic
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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/DISCO_L475VG_IOT01A/develop/GCC_ARM/micro_ros_mbed.bin'
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steps:
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- uses: actions/checkout@v2
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with:
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branch: foxy
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- distro: rolling
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branch: main
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- distro: galactic
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branch: galactic
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needs: micro_ros_build
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container: ros:${{ matrix.distro }}

‎README.md‎

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*<sup>3</sup> a valid CMake toolchain with custom crosscompilation definition is required*
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## Secondary build system tools
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micro-ROS also offers some other ways to crosscompile it for different platforms. These other options are secondary tools and may not have full support for all features. Currently micro-ROS is also available as:
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This package targets the **ROS 2** installation. ROS 2 supported distributions are:
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| ROS 2 Distro | State | Branch |
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| ------------ | --------- | --------- |
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| Crystal | Supported | `crystal` |
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| Dashing | Supported | `dashing` |
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| Foxy | Supported | `foxy` |
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| Rolling | Supported | `main` |
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| ROS 2 Distro | State | Branch |
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| ------------ | --------- | ---------- |
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| Foxy | Supported | `foxy` |
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| Galactic | Supported | `galactic` |
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| Rolling | Supported | `main` |
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Some other prerequisites needed for building a firmware using this package are:
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In summary, the supported configurations for transports are:
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| | FreeRTOS | Zephyr | Mbed |
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| ----------------------------- | :---------------: | :----------------: | :----------------: |
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| Olimex STM32-E407 | 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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| | FreeRTOS | Zephyr | Mbed |
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| ----------------------------- | :---------------: | :----------------: | :---: |
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| Olimex STM32-E407 | 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/agent_uros_packages.repos‎

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uros/micro_ros_msgs:
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type: git
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url: https://github.com/micro-ROS/micro_ros_msgs.git
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version: main
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version: galactic
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uros/micro-ROS-Agent:
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url: https://github.com/micro-ROS/micro-ROS-Agent.git
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version: main
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version: galactic
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uros/drive_base:
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type: git
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url: https://github.com/micro-ROS/drive_base.git

‎config/client_uros_packages.repos‎

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uros/rcl:
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type: git
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url: https://github.com/micro-ROS/rcl
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version: master
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version: galactic
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uros/rclc:
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type: git
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url: https://github.com/ros2/rclc
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version: master
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version: galactic
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uros/micro_ros_utilities:
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type: git
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url: https://github.com/micro-ROS/micro_ros_utilities
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version: main
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version: galactic
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uros/rcutils:
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type: git
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url: https://github.com/micro-ROS/rcutils
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version: master
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version: galactic
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uros/micro_ros_msgs:
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url: https://github.com/micro-ROS/micro_ros_msgs.git
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version: main
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version: galactic
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uros/rmw_microxrcedds:
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url: https://github.com/micro-ROS/rmw-microxrcedds.git
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version: main
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version: galactic
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uros/rosidl_typesupport:
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url: https://github.com/micro-ROS/rosidl_typesupport.git
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version: master
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version: galactic
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uros/rosidl_typesupport_microxrcedds:
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url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
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version: main
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version: galactic
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uros/tracetools:
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url: https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/
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version: master
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version: galactic

‎config/freertos/crazyflie21/board.repos‎

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freertos_apps:
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url: https://github.com/micro-ROS/freertos_apps
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version: main
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version: galactic
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‎config/freertos/esp32/board.repos‎

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freertos_apps:
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version: galactic
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‎config/freertos/nucleo_f446re/board.repos‎

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freertos_apps:
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type: git
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url: https://github.com/micro-ros/freertos_apps
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version: main
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version: galactic

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