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Wio Terminal Support #1284

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Merged
merged 5 commits into from
Feb 6, 2023
Merged

Wio Terminal Support #1284

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ff58303
Include appropriate headers when target is Wio Terminal.
maehara-keisuke Jan 14, 2023
eacf62d
Enable to compile publisher_wifi example when target is Wio Terminal.
maehara-keisuke Jan 14, 2023
650a1a0
Follow CI.
maehara-keisuke Jan 15, 2023
04747b8
Add Wio Terminal to Community contributed board list.
maehara-keisuke Jan 15, 2023
866f7bc
Merge foxy.
maehara-keisuke Feb 5, 2023
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9 changes: 7 additions & 2 deletions .github/workflows/ci.yml
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Expand Up @@ -28,17 +28,20 @@ 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
arduino-cli core install arduino:sam -v
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
Expand All @@ -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
Expand All @@ -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
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
1 change: 1 addition & 0 deletions README.md
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Expand Up @@ -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).

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4 changes: 2 additions & 2 deletions examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino
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Expand Up @@ -8,8 +8,8 @@

#include <std_msgs/msg/int32.h>

#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;
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5 changes: 4 additions & 1 deletion src/micro_ros_arduino.h
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Expand Up @@ -95,14 +95,17 @@ 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 <WiFi.h>
#include <WiFiUdp.h>
#elif defined(ARDUINO_NANO_RP2040_CONNECT)
#include <SPI.h>
#include <WiFiNINA.h>
#elif defined(ARDUINO_WIO_TERMINAL)
#include <rpcWiFi.h>
#include <WiFiUdp.h>
#endif

extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport);
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6 changes: 4 additions & 2 deletions src/wifi_transport.cpp
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@@ -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 <Arduino.h>


Expand All @@ -9,6 +8,9 @@
#elif defined(ARDUINO_NANO_RP2040_CONNECT)
#include <SPI.h>
#include <WiFiNINA.h>
#elif defined(ARDUINO_WIO_TERMINAL)
#include <rpcWiFi.h>
#include <WiFiUdp.h>
#endif

#include <micro_ros_arduino.h>
Expand Down