apps/system/microros: add libmicroros.a colcon cross-build orchestration#3498
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arjav1528 wants to merge 9 commits into
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apps/system/microros: add libmicroros.a colcon cross-build orchestration#3498arjav1528 wants to merge 9 commits into
arjav1528 wants to merge 9 commits into
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Add micro_ros_lib/ subdirectory with a .keep sentinel so the directory is tracked by git before any generated build artifacts appear. All colcon/fetch outputs land here and are gitignored by the parent .gitignore. Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add a colcon.meta.in template that is substituted at build time with
Kconfig values. Key settings:
- Custom transport only (UCLIENT_PROFILE_CUSTOM_TRANSPORT=ON,
UCLIENT_PROFILE_STREAM_FRAMING=ON) -- actual UDP/serial callbacks
are wired in Phase 4.
- RCL_MICROROS=ON (Jazzy/Kilted renamed flag replacing the old
RCL_COMMAND_LINE_ENABLED/RCL_LOGGING_ENABLED pair).
- RCUTILS_NO_FILESYSTEM=OFF -- NuttX provides POSIX filesystem.
- Resource limits use @MAX_NODES@/@MAX_PUBLISHERS@ etc. placeholders
substituted from CONFIG_MICROROS_MAX_* Kconfig values.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
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Add toolchain.cmake.in and include_override/assert.h for the colcon
cross-build. Key differences from the old robertobucher port:
- Drop -DCLOCK_MONOTONIC=0: NuttX defines CLOCK_MONOTONIC=1 and
the override broke nanosleep() on newer kernels.
- CMAKE_SYSTEM_PROCESSOR is a placeholder substituted per-arch.
- include_override/assert.h works around the rosidl NDEBUG issue
(ros2/rosidl#739).
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
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| +++ b/rcutils/src/strcasecmp.c | ||
| @@ -17,6 +17,9 @@ extern "C" | ||
| #include <errno.h> | ||
| #include <string.h> |
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should we align with Linux?
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ahhhh, my bad
Changed the guard to #ifdef NuttX so the include is scoped to NuttX only coz Linux/glibc already exposes strcasecmp through <string.h>
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@arjav1528 please squash the intermediate patch |
Replace the Directory.mk stub with a full Application.mk-based Makefile
that builds libmicroros.a from upstream micro-ROS sources via colcon.
Build pipeline (six steps, each a Make target):
1. micro_ros_dev/install -- clone + build ament/colcon host tools
2. micro_ros_src/src -- git clone all Jazzy micro-ROS packages
with --depth 1; apply DIR-typedef guard
patch; mark unused packages COLCON_IGNORE
3. toolchain.cmake -- sed-substitute CC/CXX/CFLAGS into template
4. colcon.meta -- sed-substitute Kconfig resource limits
5. micro_ros_src/install -- colcon cross-build (merge-install,
packages-ignore-regex=.*_cpp)
6. libmicroros.a -- ar-merge all install/lib/*.a into one
archive; copy include/ tree
clean:: removes generated files; distclean:: removes all fetched dirs.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
When CONFIG_SYSTEM_MICROROS=y, add the prebuilt libmicroros.a to LDLIBS and the colcon-installed include/ tree to CFLAGS/CXXFLAGS so that any application in nuttx-apps can include micro-ROS headers and link against the library without extra flags. Signed-off-by: Arjav Patel <arjav1528@gmail.com>
NuttX defines DIR as a struct type in dirent.h. The rcutils filesystem source has a bare typedef int DIR that triggers a redefinition error when NuttX system headers are on the include path. Guard it with #ifndef DIR so the typedef is skipped when the type is already defined. Applied automatically during the micro_ros_src/src fetch step with patch -p1 --forward --ignore-whitespace ... || true so the build is idempotent if the upstream ever merges a fix. Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Mirror the Makefile build pipeline into CMakeLists.txt using ExternalProject_Add so that CMake-based NuttX builds (cmake --build) can also produce libmicroros.a. The external project delegates to the existing Makefile targets, then exposes the result via an IMPORTED STATIC library target with correct INTERFACE_INCLUDE_DIRECTORIES. Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add -D__NuttX__ to CMAKE_C_FLAGS_INIT and CMAKE_CXX_FLAGS_INIT in toolchain.cmake.in so that all cross-compiled micro-ROS packages see the NuttX target macro. Without this, rcutils/src/process.c follows the __linux__ branch and references program_invocation_name, a glibc-only extension absent from the NuttX C library. Pair with 0002-rcutils-process-nuttx-compat.patch which additionally guards the linux branch with !defined(__NuttX__), ensuring the embedded fallback path is taken on NuttX even if the host compiler defines any linux-flavoured macros. Signed-off-by: Arjav Patel <arjav1528@gmail.com>
POSIX specifies strcasecmp/strncasecmp in <strings.h>, not <string.h>. On NuttX (and other strict POSIX environments) rcutils/src/strcasecmp.c only includes <string.h>, causing an implicit-declaration error for strcasecmp when cross-compiling. Patch 0003 adds #include <strings.h> guarded by !_WIN32, matching the existing Windows/POSIX split in the file. Signed-off-by: Arjav Patel <arjav1528@gmail.com>
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done |
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Summary
This PR implements an automated build pipeline that fetches all upstream micro-ROS jazzy packages, cross-compiles them with colcon and a NuttX CMake toolchain, and merges the resulting static libraries into a single
libmicroros.aready for linking into a NuttX image.Impact
CONFIG_SYSTEM_MICROROSautomaticallyget
libmicroros.alinked in and all micro-ROS headers available undersystem/microros/include/. No manual build steps are required.make contextin the apps tree triggers the colcon build the firsttime; subsequent builds are incremental. Full build time on a 2-core machine
is approximately 4–5 minutes.
make distcleanfully removes all downloadedsources.
space; only
libmicroros.a(~13–80 MB depending on included message types)and the headers are retained after the build.
colcon-common-extensions,cmake ≥ 3.16,Python 3, and a C/C++ cross-compiler matching
$(CROSSDEV).entirely gated behind
CONFIG_SYSTEM_MICROROS.Testing
Host: Ubuntu 22.04 (EC2
t3.medium),gcc 13,cmake 3.28,colcon 0.3Target:
stm32f4discovery:nsh(ARM Cortex-M4,arm-none-eabi-gcc 14.2)— library produced but not yet run on hardware due to availability issues.
Verified with
make contextend-to-end:phase3.log
make cleanverified removeslibmicroros.a,include/,toolchain.cmake,and
colcon.meta.