diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index e929f3a63..3ce82a1cf 100755 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -35,10 +35,15 @@ jobs: curl -fsSL https://www.pjrc.com/teensy/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 arduino:mbed_giga -v + arduino-cli core install arduino:mbed_rp2040 -v + arduino-cli core install arduino:mbed_portenta -v + arduino-cli core install arduino:renesas_uno -v + arduino-cli core install arduino:mbed_nano -v arduino-cli core install esp32:esp32 -v arduino-cli core install teensy:avr@1.59.0 -v arduino-cli core install Seeeduino:samd -v @@ -54,6 +59,7 @@ jobs: arduino-cli lib install WiFiNINA arduino-cli lib install "STM32duino X-NUCLEO-IKS01A3" 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. + arduino-cli lib install WiFiEspAT # 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 @@ -64,10 +70,10 @@ jobs: arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_time_sync -v arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_types_handling -v # Build one demo for each platform - arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v - arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v - arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v - arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v + arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v + arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v + arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v + arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v arduino-cli compile --fqbn teensy:avr:teensy35 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v arduino-cli compile --fqbn teensy:avr:teensy36 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v @@ -76,8 +82,16 @@ jobs: arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v # arduino-cli compile --fqbn arduino:mbed:envie_m4 /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 -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 arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v + arduino-cli compile --fqbn arduino:mbed_portenta: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 Seeeduino:samd:seeed_wio_terminal /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v + arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v + arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v + arduino-cli compile --fqbn arduino:renesas_uno:minima /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v + arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v + arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v + # Build micro-ros_publisher-wifi_at for WiFi non-native board with ESP-AT + arduino-cli compile --fqbn arduino:mbed_rp2040:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v + diff --git a/README.md b/README.md index 1030109d3..755b3af83 100755 --- a/README.md +++ b/README.md @@ -38,13 +38,20 @@ Supported boards are: Community contributed boards are: -| Board | Min version | Contributor | Details | .meta file | -| ---------------------------------------------------------------------------------------- | ----------- | ---------------------------------------------- | ------- | ------------------------ | -| [Arduino Due](https://store.arduino.cc/arduino-due) | - | [@lukicdarkoo](https://github.com/lukicdarkoo) | | `colcon_verylowmem.meta` | -| [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` | +| Board | Min version | Contributor | Details | .meta file | +| ---------------------------------------------------------------------------------------- | ----------- | ------------------------------------------------------ | ------------------------------------------------------------------------- | ------------------------ | +| [Arduino Due](https://store.arduino.cc/arduino-due) | - | [@lukicdarkoo](https://github.com/lukicdarkoo) | | `colcon_verylowmem.meta` | +| [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` | +| [Raspberry Pi Pico](https://www.raspberrypi.com/documentation/microcontrollers/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` | +| [Seeed Studio XIAO SAMD21](https://wiki.seeedstudio.com/Seeeduino-XIAO/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` | +| [Seeed Studio XIAO RP2040](https://wiki.seeedstudio.com/XIAO-RP2040/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` | +| [Arduino Giga R1](https://store.arduino.cc/products/giga-r1-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` | +| [Arduino UNO R4 WiFi](https://store.arduino.cc/products/uno-r4-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` | +| [Arduino UNO R4 Minima](https://store.arduino.cc/products/uno-r4-minima) | - | [@gbr1](https://github.com/gbr1) | | `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 cca3ae549..79e2fb447 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) && !defined(ARDUINO_WIO_TERMINAL) -#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module and Wio Terminal +#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_GIGA) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL) && !defined(ARDUINO_UNOR4_WIFI) +#error This example is only available for Arduino Portenta, Arduino Giga R1, Arduino Nano RP2040 Connect, ESP32 Dev module, Wio Terminal and Arduino Uno R4 WiFi #endif rcl_publisher_t publisher; @@ -18,7 +18,11 @@ rclc_support_t support; rcl_allocator_t allocator; rcl_node_t node; -#define LED_PIN 13 +#if defined(LED_BUILTIN) + #define LED_PIN LED_BUILTIN +#else + #define LED_PIN 13 +#endif #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}} #define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}} diff --git a/examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino b/examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino new file mode 100755 index 000000000..63dcd9622 --- /dev/null +++ b/examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino @@ -0,0 +1,89 @@ +// To use "ESP-AT External WiFi module"(hereinafter called "ESP-AT") with your board, install "WiFiEspAT" from Library Manager. +// See https://www.espressif.com/en/products/sdks/esp-at/overview for more details about ESP-AT. + +#define BOARD_WITH_ESP_AT +// Configurations about communication between Host MCU and ESP-AT. +// In most cases, you would burn ESP-AT firmware v2 or later. And you should uncomment "#define WIFIESPAT1" in EspAtDrvTypes.h +// See https://github.com/JAndrassy/WiFiEspAT/tree/7f398e14f331fc845c4af671f1946fe3f29a744f#getting-started for more details. +#define ESP_AT_SERIAL_PORT Serial1 // Serial port object to ESP-AT +#define ESP_AT_BAUDRATE 115200 // Baudrate setting in ESP-AT firmware(default is 115200) +#define ESP_AT_RESET_PIN -1 // GPIO_PIN connected to ESP-AT's reset pin(-1 means not to use hardware reset) + +#include + +#include + +#include +#include +#include +#include +#include + +#include + +#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) +#define BOARD_HAS_NATIVE_WIFI +#endif + +#if defined(BOARD_HAS_NATIVE_WIFI) +#error This example is not available for boards that have native WiFi. +#endif + +rcl_publisher_t publisher; +std_msgs__msg__Int32 msg; +rclc_support_t support; +rcl_allocator_t allocator; +rcl_node_t node; + +#define LED_PIN 13 + +#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}} +#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}} + + +void error_loop(){ + while(1){ + digitalWrite(LED_PIN, !digitalRead(LED_PIN)); + delay(100); + } +} + +void timer_callback(rcl_timer_t * timer, int64_t last_call_time) +{ + RCLC_UNUSED(last_call_time); + if (timer != NULL) { + RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL)); + msg.data++; + } +} + +void setup() { + set_microros_wifi_transports("WIFI SSID", "WIFI PASS", "192.168.1.57", 8888); + + pinMode(LED_PIN, OUTPUT); + digitalWrite(LED_PIN, HIGH); + + delay(2000); + + allocator = rcl_get_default_allocator(); + + //create init_options + RCCHECK(rclc_support_init(&support, 0, NULL, &allocator)); + + // create node + RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_wifi_node", "", &support)); + + // create publisher + RCCHECK(rclc_publisher_init_best_effort( + &publisher, + &node, + ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), + "topic_name")); + + msg.data = 0; +} + +void loop() { + RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL)); + msg.data++; +} diff --git a/library.properties b/library.properties index 13013da10..ddb8026e1 100755 --- a/library.properties +++ b/library.properties @@ -7,4 +7,4 @@ paragraph=micro-ROS Arduino library url=https://github.com/micro-ROS/micro_ros_arduino precompiled=true category=Other -architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta +architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta,mbed_giga,renesas_uno diff --git a/src/default_transport.cpp b/src/default_transport.cpp index 82b15cdbb..aa9b49087 100755 --- a/src/default_transport.cpp +++ b/src/default_transport.cpp @@ -4,7 +4,7 @@ extern "C" { #include #include - #include + #include int clock_gettime(clockid_t unused, struct timespec *tp) __attribute__ ((weak)); bool arduino_transport_open(struct uxrCustomTransport * transport) __attribute__ ((weak)); diff --git a/src/micro_ros_arduino.h b/src/micro_ros_arduino.h index 618d672ad..5a86897dc 100755 --- a/src/micro_ros_arduino.h +++ b/src/micro_ros_arduino.h @@ -95,9 +95,9 @@ 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) || defined(ARDUINO_WIO_TERMINAL) +#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) || defined(ARDUINO_UNOR4_WIFI) -#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) +#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) #include #include #elif defined(ARDUINO_NANO_RP2040_CONNECT) @@ -106,6 +106,10 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd #elif defined(ARDUINO_WIO_TERMINAL) #include #include +#elif defined(BOARD_WITH_ESP_AT) +#include +#elif defined(ARDUINO_UNOR4_WIFI) +#include #endif extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport); @@ -119,7 +123,7 @@ struct micro_ros_agent_locator { }; #endif -static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint agent_port){ +static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint32_t agent_port){ WiFi.begin(ssid, pass); diff --git a/src/wifi_transport.cpp b/src/wifi_transport.cpp index 0c0c66aee..c86bc9592 100755 --- a/src/wifi_transport.cpp +++ b/src/wifi_transport.cpp @@ -1,8 +1,8 @@ -#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) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) || defined(ARDUINO_UNOR4_WIFI) #include -#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) +#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) #include #include #elif defined(ARDUINO_NANO_RP2040_CONNECT) @@ -11,6 +11,10 @@ #elif defined(ARDUINO_WIO_TERMINAL) #include #include +#elif defined(BOARD_WITH_ESP_AT) +#include +#elif defined(ARDUINO_UNOR4_WIFI) +#include #endif #include