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Updated library generation script
Updated library Update
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‎README.md

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@@ -31,13 +31,16 @@ docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agen
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## How to build the precompiled library
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```bash
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<!--
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pushd extras/library_generation
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docker build . -t micro_ros_arduino_builder
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popd
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-->
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docker run -it --rm -v $(pwd):/arduino_project micro_ros_arduino_builder
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```bash
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docker run -it --rm -v $(pwd):/arduino_project microros/micro_ros_arduino_builder
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```
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Note that folders added to `extras/library_generation/extra_packages` and entries added to `extras/library_generation/extra_packages/extra_packages.repos` will be taken into account by this build system.
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## Purpose of the Project
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‎extras/library_generation/Dockerfile

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@@ -19,6 +19,6 @@ RUN git clone https://github.com/micro-ROS/micro-ros-build.git src/micro-ros-bui
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&& tar -xvf gcc-arm-none-eabi-5_4-2016q3-20160926-linux.tar.bz2 \
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&& rm -rf gcc-arm-none-eabi-5_4-2016q3-20160926-linux.tar.bz2 gcc-arm-none-eabi-5_4-2016q3/share/doc
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COPY ./library_generation.sh /library_generation.sh
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COPY ./entrypoint.sh /entrypoint.sh
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ENTRYPOINT ["/library_generation.sh"]
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ENTRYPOINT ["/entrypoint.sh"]

‎extras/library_generation/entrypoint.sh

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#!/bin/bash
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set -e
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exec /arduino_project/extras/library_generation/library_generation.sh "$@"

‎extras/library_generation/extra_packages/extra_packages.repos

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repositories:
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# myrepo:
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# type: git
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# url: https://github.com/my/repo
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# version: master

‎extras/library_generation/library_generation.sh

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#!/bin/bash
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PLATFORMS=()
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while getopts "p:" o; do
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case "$o" in
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p)
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PLATFORMS+=(${OPTARG})
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;;
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esac
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done
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if [ $OPTIND -eq 1 ]; then
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PLATFORMS+=("opencr1")
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PLATFORMS+=("teensy4")
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PLATFORMS+=("teensy3")
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fi
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shift $((OPTIND-1))
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######## Init ########
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apt update
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cd /uros_ws
@@ -17,50 +36,67 @@ cp /arduino_project/extras/library_generation/arduino_xrce_transports/serial_tra
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######## Adding extra packages ########
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pushd firmware/mcu_ws > /dev/null
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git clone -b foxy https://github.com/ros2/geometry2
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cp -R geometry2/tf2_msgs ros2/tf2_msgs
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rm -rf geometry2
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# Workaround: Copy just tf2_msgs
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git clone -b foxy https://github.com/ros2/geometry2
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cp -R geometry2/tf2_msgs ros2/tf2_msgs
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rm -rf geometry2
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# Import user defined packages
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mkdir extra_packages
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pushd extra_packages > /dev/null
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cp -R /arduino_project/extras/library_generation/extra_packages/* .
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vcs import --input extra_packages.repos
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popd > /dev/null
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popd > /dev/null
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######## Clean and source ########
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find /arduino_project/src/ ! -name micro_ros_arduino.h ! -name *.c ! -name *.c.in -delete
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######## Build for OpenCR ########
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rm -rf firmware/build
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if [[ " ${PLATFORMS[@]} " =~ " opencr1 " ]]; then
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rm -rf firmware/build
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export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q2/bin/arm-none-eabi-
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ros2 run micro_ros_setup build_firmware.sh /arduino_project/extras/library_generation/opencr_toolchain.cmake /arduino_project/extras/library_generation/colcon.meta
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export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q2/bin/arm-none-eabi-
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ros2 run micro_ros_setup build_firmware.sh /arduino_project/extras/library_generation/opencr_toolchain.cmake /arduino_project/extras/library_generation/colcon.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /arduino_project/src/
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /arduino_project/src/
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mkdir -p /arduino_project/src/cortex-m7/fpv5-sp-d16-softfp
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cp -R firmware/build/libmicroros.a /arduino_project/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
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mkdir -p /arduino_project/src/cortex-m7/fpv5-sp-d16-softfp
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cp -R firmware/build/libmicroros.a /arduino_project/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
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fi
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######## Build for Teensy 4 ########
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rm -rf firmware/build
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export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
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ros2 run micro_ros_setup build_firmware.sh /arduino_project/extras/library_generation/teensy4_toolchain.cmake /arduino_project/extras/library_generation/colcon.meta
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######## Build for Teensy 3.2 ########
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if [[ " ${PLATFORMS[@]} " =~ " teensy3 " ]]; then
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rm -rf firmware/build
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mkdir -p /arduino_project/src/imxrt1062/fpv5-d16-hard
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cp -R firmware/build/libmicroros.a /arduino_project/src/imxrt1062/fpv5-d16-hard/libmicroros.a
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export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
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ros2 run micro_ros_setup build_firmware.sh /arduino_project/extras/library_generation/teensy32_toolchain.cmake /arduino_project/extras/library_generation/colcon_lowmem.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /arduino_project/src/
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######## Build for Teensy 3.2 ########
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rm -rf firmware/build
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mkdir -p /arduino_project/src/mk20dx256
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cp -R firmware/build/libmicroros.a /arduino_project/src/mk20dx256/libmicroros.a
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fi
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######## Build for Teensy 4 ########
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if [[ " ${PLATFORMS[@]} " =~ " teensy4 " ]]; then
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rm -rf firmware/build
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export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
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export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
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ros2 run micro_ros_setup build_firmware.sh /arduino_project/extras/library_generation/teensy4_toolchain.cmake /arduino_project/extras/library_generation/colcon.meta
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ros2 run micro_ros_setup build_firmware.sh /arduino_project/extras/library_generation/teensy32_toolchain.cmake /arduino_project/extras/library_generation/colcon_lowmem.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /arduino_project/src/
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mkdir -p /arduino_project/src/mk20dx256
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cp -R firmware/build/libmicroros.a /arduino_project/src/mk20dx256/libmicroros.a
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mkdir -p /arduino_project/src/imxrt1062/fpv5-d16-hard
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cp -R firmware/build/libmicroros.a /arduino_project/src/imxrt1062/fpv5-d16-hard/libmicroros.a
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fi
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######## Generate extra files ########
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find firmware/mcu_ws/ros2 \( -name "*.srv" -o -name "*.msg" \) | awk -F"/" '{print $(NF-2)"/"$NF}' > /arduino_project/available_ros2_types
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find firmware/mcu_ws/extra_packages \( -name "*.srv" -o -name "*.msg" \) | awk -F"/" '{print $(NF-2)"/"$NF}' >> /arduino_project/available_ros2_types
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cd firmware
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echo "" > /arduino_project/built_packages

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