diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index d7227c296..eb7f86aa8 100755 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -28,10 +28,12 @@ jobs: additional_urls: - https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json - https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json - - https://www.pjrc.com/teensy/td_156/package_teensy_index.json''' > arduino-cli.yaml + - https://www.pjrc.com/teensy/td_156/package_teensy_index.json + - https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json''' > arduino-cli.yaml 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 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 curl -fsSL https://www.pjrc.com/teensy/td_156/package_teensy_index.json -o /github/home/.arduino15/package_teensy_index.json + curl -fsSL https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json -o /github/home/.arduino15/package_seeeduino_boards_index.json export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin arduino-cli core install OpenCR:OpenCR -v arduino-cli core install arduino:samd -v @@ -39,6 +41,7 @@ jobs: arduino-cli core install arduino:mbed -v arduino-cli core install esp32:esp32 -v arduino-cli core install teensy:avr -v + arduino-cli core install Seeeduino:samd -v # # PATCHING TEENSY AND SAM cat checkout/extras/patching_boards/platform_teensy.txt > /github/home/.arduino15/packages/teensy/hardware/avr/1.57.2/platform.txt @@ -49,6 +52,7 @@ jobs: arduino-cli core update-index arduino-cli lib update-index arduino-cli lib install WiFiNINA + 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. # Build all demos arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_addtwoints_service -v @@ -71,4 +75,5 @@ jobs: arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v - arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v \ No newline at end of file + arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v + arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v diff --git a/README.md b/README.md index 92ba716ed..ebaba077d 100755 --- a/README.md +++ b/README.md @@ -44,6 +44,7 @@ Community contributed boards are: | [Arduino Zero](https://store.arduino.cc/arduino-zero) | - | [@lukicdarkoo](https://github.com/lukicdarkoo) | | `colcon_verylowmem.meta` | | [Kakute F7](http://www.holybro.com/product/kakute-f7-aio-v1-5/) | - | [@amfern](https://github.com/amfern) | | `colcon.meta` | | [STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/resources/STM32-E407.pdf) | - | [@dominikn](https://github.com/dominikn) | | `colcon.meta` | +| [Wio Terminal](https://wiki.seeedstudio.com/Wio-Terminal-Getting-Started/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | | `colcon.meta` | You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types). diff --git a/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino b/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino index 36735cd05..cca3ae549 100755 --- a/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino +++ b/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino @@ -8,8 +8,8 @@ #include -#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT) -#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect and ESP32 Dev module +#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL) +#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module and Wio Terminal #endif rcl_publisher_t publisher; diff --git a/src/micro_ros_arduino.h b/src/micro_ros_arduino.h index 696932864..618d672ad 100755 --- a/src/micro_ros_arduino.h +++ b/src/micro_ros_arduino.h @@ -95,7 +95,7 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd #endif -#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) +#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) #if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) #include @@ -103,6 +103,9 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd #elif defined(ARDUINO_NANO_RP2040_CONNECT) #include #include +#elif defined(ARDUINO_WIO_TERMINAL) +#include +#include #endif extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport); diff --git a/src/wifi_transport.cpp b/src/wifi_transport.cpp index 7c7d9c42c..ace70ab51 100755 --- a/src/wifi_transport.cpp +++ b/src/wifi_transport.cpp @@ -1,5 +1,4 @@ -#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) - +#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) #include @@ -9,6 +8,9 @@ #elif defined(ARDUINO_NANO_RP2040_CONNECT) #include #include +#elif defined(ARDUINO_WIO_TERMINAL) +#include +#include #endif #include