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Initial changes for Rolling release
Update Add ament_index (#61) * Add ament_index * Update * Update CI
1 parent 76b97c8 commit fb67947

3 files changed

Lines changed: 42 additions & 37 deletions

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‎.github/workflows/ci.yml‎

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Original file line numberDiff line numberDiff line change
@@ -37,6 +37,8 @@ jobs:
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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 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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- name: Build sample - int32_publisher
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shell: bash

‎CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -20,12 +20,12 @@ externalproject_add(libmicroros_project
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CONFIGURE_COMMAND ""
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BUILD_COMMAND
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${submake} -j -f libmicroros.mk
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CC=${CMAKE_C_COMPILER}
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AR=${CMAKE_AR}
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STRIP=${CMAKE_STRIP}
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CFLAGS=${CMAKE_C_FLAGS}
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CXX=${CMAKE_CXX_COMPILER}
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CXXFLAGS=${CMAKE_CXX_FLAGS}
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X_CC=${CMAKE_C_COMPILER}
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X_AR=${CMAKE_AR}
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X_STRIP=${CMAKE_STRIP}
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X_CFLAGS=${CMAKE_C_FLAGS}
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X_CXX=${CMAKE_CXX_COMPILER}
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X_CXXFLAGS=${CMAKE_CXX_FLAGS}
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BUILD_DIR=${CMAKE_BINARY_DIR}
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IDF_PATH=${IDF_PATH}
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IDF_TARGET=${IDF_TARGET}

‎libmicroros.mk‎

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Original file line numberDiff line numberDiff line change
@@ -10,8 +10,8 @@ else
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BUILD_TYPE = Release
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endif
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CFLAGS_INTERNAL := $(CFLAGS) -ffunction-sections -fdata-sections
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CXXFLAGS_INTERNAL := $(CXXFLAGS) -ffunction-sections -fdata-sections
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CFLAGS_INTERNAL := $(X_CFLAGS) -ffunction-sections -fdata-sections
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CXXFLAGS_INTERNAL := $(X_CXXFLAGS) -ffunction-sections -fdata-sections
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all: $(EXTENSIONS_DIR)/libmicroros.a
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@@ -25,8 +25,8 @@ clean:
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$(EXTENSIONS_DIR)/esp32_toolchain.cmake: $(EXTENSIONS_DIR)/esp32_toolchain.cmake.in
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rm -f $(EXTENSIONS_DIR)/esp32_toolchain.cmake; \
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cat $(EXTENSIONS_DIR)/esp32_toolchain.cmake.in | \
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sed "s/@CMAKE_C_COMPILER@/$(subst /,\/,$(CC))/g" | \
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sed "s/@CMAKE_CXX_COMPILER@/$(subst /,\/,$(CXX))/g" | \
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sed "s/@CMAKE_C_COMPILER@/$(subst /,\/,$(X_CC))/g" | \
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sed "s/@CMAKE_CXX_COMPILER@/$(subst /,\/,$(X_CXX))/g" | \
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sed "s/@CFLAGS@/$(subst /,\/,$(CFLAGS_INTERNAL))/g" | \
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sed "s/@CXXFLAGS@/$(subst /,\/,$(CXXFLAGS_INTERNAL))/g" | \
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sed "s/@IDF_TARGET@/$(subst /,\/,$(IDF_TARGET))/g" | \
@@ -37,37 +37,40 @@ $(EXTENSIONS_DIR)/esp32_toolchain.cmake: $(EXTENSIONS_DIR)/esp32_toolchain.cmake
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$(EXTENSIONS_DIR)/micro_ros_dev/install:
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rm -rf micro_ros_dev; \
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mkdir micro_ros_dev; cd micro_ros_dev; \
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git clone -b foxy https://github.com/ament/ament_cmake src/ament_cmake; \
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git clone -b foxy https://github.com/ament/ament_lint src/ament_lint; \
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git clone -b foxy https://github.com/ament/ament_package src/ament_package; \
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git clone -b foxy https://github.com/ament/googletest src/googletest; \
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git clone -b foxy https://github.com/ros2/ament_cmake_ros src/ament_cmake_ros; \
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colcon build;
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git clone -b master https://github.com/ament/ament_cmake src/ament_cmake; \
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git clone -b master https://github.com/ament/ament_lint src/ament_lint; \
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git clone -b master https://github.com/ament/ament_package src/ament_package; \
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git clone -b ros2 https://github.com/ament/googletest src/googletest; \
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git clone -b master https://github.com/ros2/ament_cmake_ros src/ament_cmake_ros; \
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git clone -b master https://github.com/ament/ament_index src/ament_index; \
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colcon build --cmake-args -DBUILD_TESTING=OFF;
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$(EXTENSIONS_DIR)/micro_ros_src/src:
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rm -rf micro_ros_src; \
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mkdir micro_ros_src; cd micro_ros_src; \
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git clone -b foxy https://github.com/eProsima/micro-CDR src/micro-CDR; \
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git clone -b foxy https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client; \
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git clone -b foxy https://github.com/micro-ROS/rcl src/rcl; \
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git clone -b foxy https://github.com/ros2/rclc src/rclc; \
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git clone -b foxy https://github.com/micro-ROS/rcutils src/rcutils; \
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git clone -b foxy https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs; \
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git clone -b foxy https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds; \
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git clone -b foxy https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport; \
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git clone -b foxy https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds; \
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git clone -b master https://github.com/ros2/tinydir_vendor src/tinydir_vendor; \
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git clone -b foxy https://github.com/ros2/rosidl src/rosidl; \
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git clone -b foxy https://github.com/ros2/rmw src/rmw; \
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git clone -b foxy https://github.com/ros2/rcl_interfaces src/rcl_interfaces; \
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git clone -b foxy https://github.com/ros2/rosidl_defaults src/rosidl_defaults; \
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git clone -b foxy https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs; \
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git clone -b foxy https://github.com/ros2/common_interfaces src/common_interfaces; \
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git clone -b foxy https://github.com/ros2/test_interface_files src/test_interface_files; \
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git clone -b foxy https://github.com/ros2/rmw_implementation src/rmw_implementation; \
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git clone -b foxy_microros https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing src/ros2_tracing; \
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git clone -b master https://github.com/micro-ROS/rcl src/rcl; \
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git clone -b master https://github.com/ros2/rclc src/rclc; \
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git clone -b master https://github.com/micro-ROS/rcutils src/rcutils; \
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git clone -b main https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs; \
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git clone -b main https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds; \
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git clone -b master https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport; \
59+
git clone -b main https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds; \
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git clone -b master https://github.com/ros2/rosidl src/rosidl; \
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git clone -b master https://github.com/ros2/rmw src/rmw; \
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git clone -b master https://github.com/ros2/rcl_interfaces src/rcl_interfaces; \
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git clone -b master https://github.com/ros2/rosidl_defaults src/rosidl_defaults; \
64+
git clone -b master https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs; \
65+
git clone -b master https://github.com/ros2/common_interfaces src/common_interfaces; \
66+
git clone -b master https://github.com/ros2/test_interface_files src/test_interface_files; \
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git clone -b master https://github.com/ros2/rmw_implementation src/rmw_implementation; \
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git clone -b master https://github.com/ros2/rcl_logging src/rcl_logging; \
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git clone -b master https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing src/ros2_tracing; \
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touch src/rosidl/rosidl_typesupport_introspection_c/COLCON_IGNORE; \
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touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE; \
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touch src/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE; \
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touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE; \
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touch src/rclc/rclc_examples/COLCON_IGNORE; \
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touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE; \
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cp -rf ../extra_packages src/extra_packages || :;
@@ -97,12 +100,12 @@ patch_atomic:$(EXTENSIONS_DIR)/micro_ros_src/install
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ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s2 esp32c3))
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echo $(UROS_DIR)/atomic_workaround; \
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mkdir $(UROS_DIR)/atomic_workaround; cd $(UROS_DIR)/atomic_workaround; \
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$(AR) x $(UROS_DIR)/install/lib/librcutils.a; \
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$(STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_fetch_add_8; \
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$(X_AR) x $(UROS_DIR)/install/lib/librcutils.a; \
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$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_fetch_add_8; \
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if [ $(IDF_VERSION_MAJOR) -ge 4 ] && [ $(IDF_VERSION_MINOR) -ge 3 ]; then \
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$(STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_exchange_8; \
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$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_exchange_8; \
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fi; \
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$(AR) rc -s librcutils.a *.obj; \
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$(X_AR) rc -s librcutils.a *.obj; \
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cp -rf librcutils.a $(UROS_DIR)/install/lib/librcutils.a; \
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rm -rf $(UROS_DIR)/atomic_workaround; \
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cd ..;

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