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Wio Terminal Support (#1284)
* Include appropriate headers when target is Wio Terminal. Signed-off-by: maehara-keisuke <[email protected]> * Enable to compile publisher_wifi example when target is Wio Terminal. Signed-off-by: maehara-keisuke <[email protected]> * Follow CI. Signed-off-by: maehara-keisuke <[email protected]> * Add Wio Terminal to Community contributed board list. Signed-off-by: maehara-keisuke <[email protected]> --------- Signed-off-by: maehara-keisuke <[email protected]> (cherry picked from commit 8bf2f20) # Conflicts: # .github/workflows/ci.yml
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‎.github/workflows/ci.yml

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additional_urls:
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- https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json
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- https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json
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- https://www.pjrc.com/teensy/td_156/package_teensy_index.json''' > arduino-cli.yaml
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- https://www.pjrc.com/teensy/td_156/package_teensy_index.json
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- https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json''' > arduino-cli.yaml
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curl -fsSL https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json -o /github/home/.arduino15/package_opencr_index.json
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curl -fsSL https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json -o /github/home/.arduino15/package_esp32_index.json
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curl -fsSL https://www.pjrc.com/teensy/td_156/package_teensy_index.json -o /github/home/.arduino15/package_teensy_index.json
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curl -fsSL https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json -o /github/home/.arduino15/package_seeeduino_boards_index.json
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export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin
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arduino-cli core install OpenCR:OpenCR -v
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arduino-cli core install arduino:samd -v
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arduino-cli core install arduino:sam -v
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arduino-cli core install arduino:mbed -v
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arduino-cli core install esp32:esp32 -v
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arduino-cli core install teensy:avr -v
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arduino-cli core install Seeeduino:samd -v
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#
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# PATCHING TEENSY AND SAM
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cat checkout/extras/patching_boards/platform_teensy.txt > /github/home/.arduino15/packages/teensy/hardware/avr/1.57.2/platform.txt
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arduino-cli lib update-index
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arduino-cli lib install WiFiNINA
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arduino-cli lib install "STM32duino X-NUCLEO-IKS01A3"
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arduino-cli lib install "Seeed Arduino rpcWiFi" # Dependent libraries(e.g. "Seeed Arduino rpcUnified") will be installed together. See https://wiki.seeedstudio.com/Wio-Terminal-Network-Overview/#needed-libraries-for-wi-fi for more details.
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# Build all demos
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arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_addtwoints_service -v
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arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v

‎README.md

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| [Arduino Zero](https://store.arduino.cc/arduino-zero) | - | [@lukicdarkoo](https://github.com/lukicdarkoo) | | `colcon_verylowmem.meta` |
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| [Kakute F7](http://www.holybro.com/product/kakute-f7-aio-v1-5/) | - | [@amfern](https://github.com/amfern) | | `colcon.meta` |
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| [STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/resources/STM32-E407.pdf) | - | [@dominikn](https://github.com/dominikn) | | `colcon.meta` |
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| [Wio Terminal](https://wiki.seeedstudio.com/Wio-Terminal-Getting-Started/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | | `colcon.meta` |
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You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).
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‎examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino

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#include <std_msgs/msg/int32.h>
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#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT)
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#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect and ESP32 Dev module
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#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL)
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#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module and Wio Terminal
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#endif
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rcl_publisher_t publisher;

‎src/micro_ros_arduino.h

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#endif
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#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT)
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#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
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#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
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#include <WiFi.h>
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#include <WiFiUdp.h>
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#elif defined(ARDUINO_NANO_RP2040_CONNECT)
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#include <SPI.h>
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#include <WiFiNINA.h>
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#elif defined(ARDUINO_WIO_TERMINAL)
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#include <rpcWiFi.h>
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#include <WiFiUdp.h>
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#endif
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extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport);

‎src/wifi_transport.cpp

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#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT)
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#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
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#include <Arduino.h>
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#elif defined(ARDUINO_NANO_RP2040_CONNECT)
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#include <SPI.h>
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#include <WiFiNINA.h>
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#elif defined(ARDUINO_WIO_TERMINAL)
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#include <rpcWiFi.h>
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#include <WiFiUdp.h>
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#endif
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#include <micro_ros_arduino.h>

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