Welcome to ROSMASTER M3 repository

Compile the microros driver library

Note: You must use Ubuntu to compile the microros driver library. Ubuntu 22.04 is recommended.

1. Install the cross-compiler

Open the download address and download the Linux version of the cross-compiler.

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https://developer.arm.com/downloads/-/gnu-rm

After decompression, put the file in the following path

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/opt/gcc-arm-none-eabi

And add the executable file path to the .bashrc environment variable in the user directory.

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export PATH=$PATH:/opt/gcc-arm-none-eabi/bin

2. Get the STM32-microros library file

Download and compile the microros setup tool

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mkdir uros_ws && cd uros_ws
git clone -b humble https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
rosdep update && rosdep install --from-paths src --ignore-src -y
colcon build
source install/local_setup.bash

Use the microros setup tool to generate the STM32-microros library file.

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ros2 run micro_ros_setup create_firmware_ws.sh generate_lib

Check the workspace. We should now have five folders, among which the firmware folder contains the STM32-microros library files. build firmware install log src

3. Modify parameters

Open the toolchain.cmake file

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vim ~/uros_ws/firmware/toolchain.cmake

Copy the following content into

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set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_CROSSCOMPILING 1)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
​
# SET HERE THE PATH TO YOUR C99 AND C++ COMPILERS
# Add the compiler path here
set(PIX /opt/gcc-arm-none-eabi/bin)
set(CMAKE_C_COMPILER ${PIX}/arm-none-eabi-gcc)
set(CMAKE_CXX_COMPILER ${PIX}/arm-none-eabi-g++)
​
set(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
set(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
​
# SET HERE YOUR BUILDING FLAGS
set(FLAGS "-O2 -ffunction-sections -fdata-sections -fno-exceptions -mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard -nostdlib -mthumb --param max-inline-insns-single=500 -D'RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_NONE'" CACHE STRING "" FORCE)
# -mcpu=cortex-m7 indicates the microcontroller architecture
# -mfpu=fpv5-d16 -mfloat-abi=hard indicates support for hardware floating-point compilation
set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS_INIT "-std=c++11 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
​
set(__BIG_ENDIAN__ 0)

Save and exit.

Open the colcon.meta file

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vim ~/uros_ws/firmware/colcon.meta

Copy the following content into

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{
    "names": {
        "tracetools": {
            "cmake-args": [
                "-DTRACETOOLS_DISABLED=ON",
                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
            ]
        },
        "rosidl_typesupport": {
            "cmake-args": [
                "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON"
            ]
        },
        "rcl": {
            "cmake-args": [
                "-DBUILD_TESTING=OFF",
                "-DRCL_COMMAND_LINE_ENABLED=OFF",
                "-DRCL_LOGGING_ENABLED=OFF"
            ]
        },
        "rcutils": {
            "cmake-args": [
                "-DENABLE_TESTING=OFF",
                "-DRCUTILS_NO_FILESYSTEM=ON",
                "-DRCUTILS_NO_THREAD_SUPPORT=ON",
                "-DRCUTILS_NO_64_ATOMIC=ON",
                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
            ]
        },
        "microxrcedds_client": {
            "cmake-args": [
                "-DUCLIENT_PIC=OFF",
                "-DUCLIENT_PROFILE_UDP=OFF",
                "-DUCLIENT_PROFILE_TCP=OFF",
                "-DUCLIENT_PROFILE_DISCOVERY=OFF",
                "-DUCLIENT_PROFILE_SERIAL=OFF",
                "-UCLIENT_PROFILE_STREAM_FRAMING=ON",
                "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON",
                "-DUCLIENT_PROFILE_SHARED_MEMORY=ON",
                "-DUCLIENT_SHARED_MEMORY_MAX_ENTITIES=20"
            ]
        },
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=1",
                "-DRMW_UXRCE_MAX_PUBLISHERS=10",
                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=10",
                "-DRMW_UXRCE_MAX_SERVICES=1",
                "-DRMW_UXRCE_MAX_CLIENTS=1",
                "-DRMW_UXRCE_MAX_HISTORY=10",       
                "-DRMW_UXRCE_TRANSPORT=custom"
            ]
        }
    }
}

"-DRMW_UXRCE_MAX_NODES=1", #maximum number of nodes;

"-DRMW_UXRCE_MAX_PUBLISHERS=10", #maximum number of publisher;

"-DRMW_UXRCE_MAX_SUBSCRIPTIONS=10", #maximum number of subscribers;

"-DRMW_UXRCE_MAX_SERVICES=1", #maximum number of servers;

"-DRMW_UXRCE_MAX_CLIENTS=1", #maximum number of clients;

"-DRMW_UXRCE_MAX_HISTORY=10", #history;

"-DRMW_UXRCE_TRANSPORT=custom" #custom transport interface

Save and exit.

4. Add environment variables

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export RMW_IMPLEMENTATION=rmw_microxrcedds

5. Start compiling

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cd ~/uros_ws/
ros2 run micro_ros_setup build_firmware.sh $(pwd)/firmware/toolchain.cmake $(pwd)/firmware/colcon.meta

Note: Since the compilation process requires downloading many files, and most file servers are located abroad, if there is a network anomaly, please solve the network download problem yourself.

View the generated static library and header files

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ls firmware/build

6. Solve the include problem

Since the generated include folder path is too long, you need to use a script to fix it.

Create a new fix_include.sh script in the firmware folder

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cd ~/uros_ws/firmware
vim fix_include.sh

Copy the following content into

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#!/bin/bash
######## Fix include paths ########
​
BASE_PATH=build
​
pushd mcu_ws > /dev/null
    INCLUDE_ROS2_PACKAGES=$(colcon list | awk '{print $1}' | awk -vd=" " '{s=(NR==1?s:sd)$0}END{print s}')
popd > /dev/null
​
for var in ${INCLUDE_ROS2_PACKAGES}; do
    if [ -d "${BASE_PATH}/include/${var}/${var}" ]; then
        rsync -r ${BASE_PATH}/include/${var}/${var}/* $BASE_PATH/include/${var}
        rm -rf ${BASE_PATH}/include/${var}/${var}
    fi
done
​
mkdir ${BASE_PATH}/libmicroros
mv ${BASE_PATH}/libmicroros.a ${BASE_PATH}/libmicroros

Save and exit.

Run the following command to fix the include folder problem.

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bash fix_include.sh

7. The final file

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ls ~/uros_ws/firmware/build
ls ~/uros_ws/firmware/build/libmicroros
ls ~/uros_ws/firmware/build/include

8. Import STM32CUBEIDE project

Create a new Microros folder in the project, and then copy the include and libmicroros folders generated by the previous step into Microros.

Right-click to open the project properties, then click [Settings]->[MCU/MPU GCC Compiler]->[include paths] to add the microros include directory path, and then click [Apply] to take effect.

Add the microros folder as the project source code path.

Import the microros library path

Link the microros library file to the project. Make sure the name matches the libmicroros.a static library file name (excluding the prefix and suffix "microros").