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Add embeddedRTPS as experimental middleware (backport #95) (#97)
* Add embeddedRTPS as experimental middleware (#95) * Add embeddedRTPS as experimental middleware * Set default middleware * Update examples * Update toolchain * Fix uart config * Update toolchain * Update CI * Update * Fix * Update samples * Update * Add rmw_rtps options to .meta * Update colcon.meta and add service msg repo * Add service example Co-authored-by: Antonio cuadros <acuadros1995@gmail.com> (cherry picked from commit 2179f0b) # Conflicts: # libmicroros.mk * Fix conflict * Update Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
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‎.github/workflows/ci.yml‎

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sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
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cd examples/int32_publisher_custom_transport
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idf.py set-target ${{ matrix.idf_target }}
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idf.py build
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- name: EmbeddedRTPS
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shell: bash
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run: |
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. $IDF_PATH/export.sh
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cd micro_ros_espidf_component
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make -f libmicroros.mk clean
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cd examples/int32_publisher_embeddedrtps
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idf.py set-target ${{ matrix.idf_target }}
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idf.py build

‎.github/workflows/nightly.yml‎

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sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
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cd examples/int32_publisher_custom_transport
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idf.py set-target ${{ matrix.idf_target }}
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idf.py build
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- name: EmbeddedRTPS
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if: ${{ matrix.branch == 'galactic' }}
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shell: bash
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run: |
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. $IDF_PATH/export.sh
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cd micro_ros_espidf_component
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make -f libmicroros.mk clean
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cd examples/int32_publisher_embeddedrtps
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idf.py set-target ${{ matrix.idf_target }}
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idf.py build

‎CMakeLists.txt‎

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@@ -18,6 +18,16 @@ if(NOT EXISTS "${EXTRA_ROS_PACKAGES}")
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set(EXTRA_ROS_PACKAGES "${COMPONENT_DIR}/extra_packages")
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endif()
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if(${CONFIG_MICRO_ROS_ESP_EMBEDDEDRTPS_MIDDLEWARE})
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message(STATUS "Using embeddedRTPS middleware")
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set(MIDDLEWARE "embeddedrtps")
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else()
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message(STATUS "Using Micro XRCE-DDS middleware")
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set(MIDDLEWARE "microxrcedds")
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endif()
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# message(FATAL_ERROR "Failed to get cmake properties")
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externalproject_add(libmicroros_project
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PREFIX ${CMAKE_BINARY_DIR}/libmicroros-prefix
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SOURCE_DIR ${COMPONENT_DIR}
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X_CFLAGS=${CMAKE_C_FLAGS}
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X_CXX=${CMAKE_CXX_COMPILER}
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X_CXXFLAGS=${CMAKE_CXX_FLAGS}
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MIDDLEWARE=${MIDDLEWARE}
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BUILD_DIR=${CMAKE_BINARY_DIR}
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IDF_PATH=${IDF_PATH}
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IDF_TARGET=${IDF_TARGET}

‎Kconfig.projbuild‎

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menu "micro-ROS Settings"
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config MICRO_ROS_AGENT_IP
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string "micro-ROS Agent IP"
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default "192.168.1.100"
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help
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micro-ROS Agent IP.
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#####################################
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# CHOOSE MICRO-ROS MIDDLEWARE #
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#####################################
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choice
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prompt "micro-ROS middleware"
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default MICRO_ROS_ESP_XRCE_DDS_MIDDLEWARE
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config MICRO_ROS_ESP_XRCE_DDS_MIDDLEWARE
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bool "micro-ROS over eProsima Micro XRCE-DDS"
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config MICRO_ROS_ESP_EMBEDDEDRTPS_MIDDLEWARE
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bool "micro-ROS over embeddedRTPS (EXPERIMENTAL)"
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endchoice
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config MICRO_ROS_AGENT_PORT
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string "micro-ROS Agent Port"
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default "8888"
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help
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micro-ROS Agent port.
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##################################
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# CHOOSE NETWORK INTERFACE #
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##################################
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choice
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choice
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prompt "micro-ROS network interface select"
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config MICRO_ROS_ESP_NETIF_WLAN
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bool "micro-ROS over network uses WLAN netif"
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bool "WLAN interface"
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config MICRO_ROS_ESP_NETIF_ENET
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bool "micro-ROS over network uses Ethernet netif"
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bool "Ethernet interface"
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if MICRO_ROS_ESP_XRCE_DDS_MIDDLEWARE
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config MICRO_ROS_ESP_UART_TRANSPORT
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bool "Micro XRCE-DDS over UART. Check int32_publisher_custom_transport"
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endif
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endchoice
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menu "UART Settings (for serial transport)"
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config MICROROS_UART_TXD
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int "UART TX pin"
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range -1 33
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default -1
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help
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Select Tx Down pin for uart connection or -1 for no change (Only used if serial transport is used for microros).
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config MICROROS_UART_RXD
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int "UART RX pin"
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range -1 33
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default -1
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help
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Select Rx Down pin for uart connection or -1 for no change (Only used if serial transport is used for microros).
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#####################
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# WLAN CONFIG #
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#####################
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config MICROROS_UART_RTS
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int "UART RTS pin"
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range -1 33
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default -1
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help
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Select RTS Down pin for uart connection or -1 for no change (Only used if serial transport is used for microros).
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if MICRO_ROS_ESP_NETIF_WLAN
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config MICROROS_UART_CTS
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int "UART CTS pin"
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range -1 33
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default -1
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help
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Select CTS Down pin for uart connection or -1 for no change (Only used if serial transport is used for microros).
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menu "WiFi Configuration"
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config ESP_WIFI_SSID
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string "WiFi SSID"
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default "myssid"
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help
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SSID (network name) for the example to connect to.
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config ESP_WIFI_PASSWORD
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string "WiFi Password"
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default "mypassword"
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help
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WiFi password (WPA or WPA2) for the example to use.
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config ESP_MAXIMUM_RETRY
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int "Maximum retry"
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default 5
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help
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Set the Maximum retry to avoid station reconnecting to the AP unlimited when the AP is really inexistent.
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endmenu
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endif # MICRO_ROS_ESP_NETIF_WLAN
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#########################
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# ETHERNET CONFIG #
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#########################
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if MICRO_ROS_ESP_NETIF_ENET
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menu "Ethernet Configuration"
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config MICRO_ROS_USE_SPI_ETHERNET
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bool
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Set PHY address according your board schematic.
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endmenu
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menu "WiFi Configuration"
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endif # MICRO_ROS_ESP_NETIF_ENET
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config ESP_WIFI_SSID
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string "WiFi SSID"
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default "myssid"
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help
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SSID (network name) for the example to connect to.
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#########################
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# XRCE-DDS CONFIG #
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#########################
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config ESP_WIFI_PASSWORD
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string "WiFi Password"
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default "mypassword"
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help
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WiFi password (WPA or WPA2) for the example to use.
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if MICRO_ROS_ESP_XRCE_DDS_MIDDLEWARE && !MICRO_ROS_ESP_UART_TRANSPORT
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config MICRO_ROS_AGENT_IP
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string "micro-ROS Agent IP"
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default "192.168.1.100"
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help
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micro-ROS Agent IP.
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config MICRO_ROS_AGENT_PORT
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string "micro-ROS Agent Port"
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default "8888"
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help
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micro-ROS Agent port.
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endif
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#####################
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# UART CONFIG #
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#####################
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if MICRO_ROS_ESP_UART_TRANSPORT
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menu "UART Settings"
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config MICROROS_UART_TXD
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int "UART TX pin"
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range -1 33
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default -1
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help
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Select Tx Down pin for uart connection or -1 for no change (Only used if serial transport is used for microros).
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config MICROROS_UART_RXD
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int "UART RX pin"
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range -1 33
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default -1
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help
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Select Rx Down pin for uart connection or -1 for no change (Only used if serial transport is used for microros).
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config MICROROS_UART_RTS
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int "UART RTS pin"
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range -1 33
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default -1
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help
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Select RTS Down pin for uart connection or -1 for no change (Only used if serial transport is used for microros).
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config MICROROS_UART_CTS
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int "UART CTS pin"
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range -1 33
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default -1
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help
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Select CTS Down pin for uart connection or -1 for no change (Only used if serial transport is used for microros).
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config ESP_MAXIMUM_RETRY
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int "Maximum retry"
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default 5
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help
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Set the Maximum retry to avoid station reconnecting to the AP unlimited when the AP is really inexistent.
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endmenu
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endif # MICRO_ROS_ESP_UART_TRANSPORT
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endmenu

‎README.md‎

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pip3 install catkin_pkg lark-parser empy colcon-common-extensions
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```
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## Middlewares available
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This package support the usage of micro-ROS on top of two different middlewares:
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- [eProsima Micro XRCE-DDS](https://micro-xrce-dds.docs.eprosima.com/en/latest/): the default micro-ROS middleware.
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- [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS): an experimental implementation of a RTPS middleware compatible with ROS 2.
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In order to select it, use `idf.py menuconfig` and go to `micro-ROS Settings > micro-ROS middleware`
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## Usage
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You can clone this repo directly in the `components` folder of your project.
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idf.py set-target esp32
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idf.py menuconfig
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# Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
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idf.py build
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idf.py flash
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idf.py monitor
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idf.py build
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idf.py flash
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idf.py monitor
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```
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To clean and rebuild all the micro-ROS library:

‎colcon.meta‎

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},
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"rcutils": {
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"cmake-args": [
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"-DBUILD_SHARED=OFF",
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"-DENABLE_TESTING=OFF",
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"-DRCUTILS_NO_FILESYSTEM=ON",
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"-DRCUTILS_NO_THREAD_SUPPORT=ON",
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"-DRMW_UXRCE_MAX_HISTORY=1"
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]
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},
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"embeddedrtps": {
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"cmake-args": [
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"-DERTPS_MAX_PUBLISHERS=2",
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"-DERTPS_MAX_SUBSCRIPTIONS=2",
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"-DERTPS_MAX_SERVICES=1",
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"-DERTPS_MAX_CLIENTS=1",
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"-DERTPS_MAX_HISTORY=10"
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]
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},
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"tracetools": {
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"cmake-args": [
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"-DTRACETOOLS_DISABLED=ON",

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