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Multiple CI and README.md Improvements
Also removed CI compatibility and mentions of ESP-IDF v4.4 as it's been declared EOL by Espressif. -
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‎.github/workflows/ci.yml‎

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@@ -2,51 +2,44 @@ name: CI
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on:
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pull_request:
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push:
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branches:
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- '**'
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- humble
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- jazzy
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- kilted
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- rolling
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workflow_call:
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inputs:
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branch:
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description: 'Branch to checkout'
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required: false
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type: string
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default: 'rolling'
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workflow_dispatch:
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jobs:
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micro_ros_idf:
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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idf_target: [ esp32, esp32s2, esp32s3, esp32c3, esp32c6]
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idf_version: [ "espressif/idf:release-v5.2" ]
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exclude:
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# Skip IDF v4 + ESP32C6 combination
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- idf_target: esp32c6
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idf_version: espressif/idf:release-v4.4
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idf_target: [esp32, esp32s2, esp32s3, esp32c3, esp32c6]
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idf_version: [v5.2, v5.3, v5.4]
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container:
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image: ${{ matrix.idf_version }}
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image: 'espressif/idf:release-${{ matrix.idf_version }}'
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steps:
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- uses: actions/checkout@v2
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- uses: actions/checkout@v6
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with:
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path: micro_ros_espidf_component
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ref: ${{ inputs.branch || github.ref }}
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- name: Dependencies
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shell: bash
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run: |
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apt update
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export DEBIAN_FRONTEND=noninteractive
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apt install -y git python3-pip
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. $IDF_PATH/export.sh
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pip3 install catkin_pkg lark-parser colcon-common-extensions
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# This line avoids the error when using Python < 3.7 https://importlib-resources.readthedocs.io/en/latest/
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pip3 install importlib-resources
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# this installs the modules also for global python interpreter, needed for IDF v5
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/usr/bin/pip3 install catkin_pkg lark-parser colcon-common-extensions importlib-resources
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# This line can be removed when https://github.com/colcon/colcon-python-setup-py/issues/56 is solved
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- name: Patch setuptools
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shell: bash
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if: matrix.idf_version == 'espressif/idf:release-v4.4'
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run: |
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. $IDF_PATH/export.sh
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pip3 install setuptools==68.1.2
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pip install catkin_pkg colcon-common-extensions lark
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- name: Build sample - int32_publisher
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shell: bash
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- name: Build sample - int32_publisher_custom_transport_usbcdc
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shell: bash
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if: (matrix.idf_target == 'esp32s2' || matrix.idf_target == 'esp32s3') && matrix.idf_version == 'espressif/idf:release-v5.2'
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if: matrix.idf_target == 'esp32s2' || matrix.idf_target == 'esp32s3'
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run: |
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. $IDF_PATH/export.sh
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cd micro_ros_espidf_component/examples/int32_publisher_custom_transport_usbcdc

‎.github/workflows/nightly.yml‎

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@@ -1,117 +1,16 @@
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name: Nightly
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on:
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workflow_dispatch:
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inputs:
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name:
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description: "Manual trigger"
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schedule:
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- cron: '0 4 * * *'
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- cron: '0 4 * * *'
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workflow_dispatch:
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jobs:
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micro_ros_idf:
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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branch: [rolling, jazzy, humble]
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idf_target: [ esp32, esp32s2, esp32c3, esp32s3, esp32c6]
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idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
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exclude:
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# Skip IDF v4 + ESP32C6 combination
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- idf_target: esp32c6
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idf_version: espressif/idf:release-v4.4
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# Skip IDF v4 for rolling and kilted
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- branch: rolling
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idf_version: espressif/idf:release-v4.4
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- branch: kilted
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idf_version: espressif/idf:release-v4.4
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container:
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image: ${{ matrix.idf_version }}
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steps:
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- uses: actions/checkout@v2
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with:
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path: micro_ros_espidf_component
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ref: ${{ matrix.branch }}
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- name: Dependencies
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shell: bash
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run: |
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apt update
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export DEBIAN_FRONTEND=noninteractive
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apt install -y git python3-pip
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. $IDF_PATH/export.sh
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pip3 install catkin_pkg lark-parser empy==3.3.4 colcon-common-extensions
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# This line avoids the error when using Python < 3.7 https://importlib-resources.readthedocs.io/en/latest/
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pip3 install importlib-resources
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# this installs the modules also for global python interpreter, needed for IDF v5
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/usr/bin/pip3 install catkin_pkg lark-parser empy==3.3.4 colcon-common-extensions importlib-resources
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# This line can be removed when https://github.com/colcon/colcon-python-setup-py/issues/56 is solved
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- name: Patch setuptools
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shell: bash
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if: matrix.idf_version == 'espressif/idf:release-v4.4'
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run: |
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. $IDF_PATH/export.sh
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pip3 install setuptools==68.1.2
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- name: Build sample - int32_publisher
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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/examples/int32_publisher
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idf.py set-target ${{ matrix.idf_target }}
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idf.py build
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- name: Build sample - low_consumption
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shell: bash
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if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6'
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run: |
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. $IDF_PATH/export.sh
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cd micro_ros_espidf_component/examples/low_consumption
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idf.py set-target ${{ matrix.idf_target }}
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idf.py build
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- name: Build sample - handle_static_types
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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/examples/handle_static_types
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idf.py set-target ${{ matrix.idf_target }}
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idf.py build
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- name: Build sample - int32_publisher_custom_transport
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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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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: Build sample - multithread_publisher
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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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sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
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cd examples/multithread_publisher
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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 == 'humble' }}
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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
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branch: [humble, jazzy, kilted, rolling]
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uses: ./.github/workflows/ci.yml
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with:
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branch: ${{ matrix.branch }}

‎README.md‎

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# micro-ROS component for ESP-IDF
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This component has been tested in ESP-IDF v5.2 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
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_Note: ESP-IDF v4.4 is supported only in ROS 2 Humble and Jazzy due to Python version incompatibilities._
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This component has been tested in ESP-IDF v5.2, v5.3, and v5.4 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
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## Dependencies
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This component needs `colcon` and other Python 3 packages inside the IDF virtual environment in order to build micro-ROS packages:
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```bash
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. $IDF_PATH/export.sh
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pip3 install catkin_pkg lark-parser colcon-common-extensions
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pip3 install catkin_pkg colcon-common-extensions lark
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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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```bash
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. $IDF_PATH/export.sh
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cd examples/int32_publisher
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# Set target board [esp32|esp32s2|esp32s3|esp32c3]
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# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6]
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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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It's possible to build this example application using the official Espressif [docker images](https://hub.docker.com/r/espressif/idf), following the same steps:
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```bash
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docker pull espressif/idf:release-v5.2
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# Run ESP-IDF container
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docker run --name micro-ros-espidf-component-test -it espressif/idf:release-v5.2 bash
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docker run --name micro-ros-espidf-component -it espressif/idf:release-v5.4 bash
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git clone https://github.com/micro-ROS/micro_ros_espidf_component.git
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git clone -b rolling https://github.com/micro-ROS/micro_ros_espidf_component.git
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cd micro_ros_espidf_component/
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# Install dependencies
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pip3 install catkin_pkg lark-parser colcon-common-extensions
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pip install catkin_pkg colcon-common-extensions lark
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$IDF_PATH/export.sh
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cd examples/int32_publisher
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# Set target board [esp32|esp32s2|esp32s3|esp32c3]
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# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6]
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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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