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Merged
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Apr 21, 2022
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Deprecate platformIO support (backport #957) #958

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Deprecate platformIO support (#957)
Acuadros95 Apr 21, 2022
dee3163
Update
pablogs9 Apr 21, 2022
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109 changes: 1 addition & 108 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,6 @@ As the build process for ROS 2 and micro-ROS is based on custom meta-build syste
- [How to use the precompiled library](#how-to-use-the-precompiled-library)
- [Arduino IDE](#arduino-ide)
- [PlatformIO](#platformio)
- [Known issues](#known-issues)
- [How to build the precompiled library](#how-to-build-the-precompiled-library)
- [Patch Arduino board for support precompiled libraries](#patch-arduino-board-for-support-precompiled-libraries)
- [Patch Teensyduino](#patch-teensyduino)
Expand Down Expand Up @@ -73,113 +72,7 @@ docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agen
```
### PlatformIO

For boards supported by micro-ROS, all you have to do to add the library to your project is including the following lines in the existing `platformio.ini` file:

```ini
[env:<YOUR_BOARD>]

...
lib_deps =
https://github.com/micro-ROS/micro_ros_arduino

build_flags =
-L ./.pio/libdeps/<YOUR_BOARD>/micro_ros_arduino/src/<BOARD_ARCHITECTURE>/
-l microros
-D <TARGET_DEFINITION>
```

| Board | <YOUR_BOARD> | <BOARD_ARCHITECTURE> | <TARGET_DEFINITION> |
| ----------------------------| ------------------- | ---------------------------- | ----------------------------------- |
| Arduino Portenta H7 M7 Core | portenta_h7_m7 | cortex-m7/fpv5-d16-softfp | TARGET_PORTENTA_H7_M7 |
| Arduino Nano RP2040 Connect | nanorp2040connect | cortex-m0plus | ARDUINO_NANO_RP2040_CONNECT |
| Teensy 4.1/4.0 | teensy41 / teensy40 | imxrt1062/fpv5-d16-hard | ARDUINO_TEENSY41 |
| Teensy 3.6 | teensy36 | mk66fx1m0/fpv4-sp-d16-hard | ARDUINO_TEENSY36 |
| Teensy 3.5 | teensy35 | mk64fx512/fpv4-sp-d16-hard | ARDUINO_TEENSY35 |
| Teensy 3.2 / 3.1 | teensy31 | mk20dx256 | ARDUINO_TEENSY32 / ARDUINO_TEENSY31 |
| ESP32 Dev Module | esp32dev | esp32 | ESP32 |
| STM32-E407 | olimex_e407 | cortex-m4 | TARGET_STM32F4 |
| Arduino Due | due | cortex-m3 | - |
| Arduino Zero | zero | cortex-m0plus | - |

Now to proceed with the PlatformIO workflow:

```bash
pio lib install # Install dependencies
pio run # Build the firmware
pio run --target upload # Flash the firmware
```

An example of a micro-ROS application using PlatformIO is available [here](https://github.com/husarion/micro_ros_stm32_template).

#### Known issues

- `multiple definition of` Link errors on galactic:

Create a python script fix_linker.py on your directory and modify the linker flags manually:
```
Import("env")
env["_LIBFLAGS"] = ('-Wl,--start-group -Wl,--whole-archive '
'${_stripixes(LIBLINKPREFIX, LIBS, LIBLINKSUFFIX, LIBPREFIXES, '
'LIBSUFFIXES, __env__)} -Wl,--no-whole-archive -lstdc++ '
'-lsupc++ -lm -lc -lgcc -lnosys -lmicroros -Wl,--end-group')
```

Now add it to your `platformio.ini` like this: `extra_scripts = fix_linker.py` and delete the `-l libmicroros` line on `build_flags`.

Related: https://github.com/micro-ROS/micro_ros_arduino/pull/848#issuecomment-1072196933, https://github.com/micro-ROS/micro_ros_arduino/issues/774

- Arduino Portenta H7
- Follow **`multiple definition of` Link errors on galactic** modifications

Related: https://github.com/micro-ROS/micro_ros_arduino/issues/847

- Arduino Nano RP2040 Connect

- The following versioning shall be used:
```
lib_deps =
arduino-libraries/WiFiNINA@^1.8.13
...

platform_packages =
toolchain-gccarmnoneeabi @ ~1.70201.0
framework-arduino-mbed @ ~2.4.1
```

- Library dependency finder shall be set to `chain+`: `lib_ldf_mode = chain+`
- Follow **`multiple definition of` Link errors on galactic** modifications

Related: https://github.com/micro-ROS/micro_ros_arduino/issues/780

- Arduino Due
- The following versioning shall be used:
```
platform_packages =
toolchain-gccarmnoneeabi@<1.50000.0
```

Related: https://github.com/micro-ROS/micro_ros_arduino/issues/698

- ESP32 Dev Module
- Known issues with espressif32 arduino package, use `2.0.2` version:
```
[env:esp32dev]
platform = https://github.com/platformio/platform-espressif32.git#feature/arduino-upstream
board = esp32dev
framework = arduino
lib_deps =
https://github.com/micro-ROS/micro_ros_arduino.git
build_flags =
-L ./.pio/libdeps/esp32dev/micro_ros_arduino/src/esp32/
-l microros
-D ESP32

platform_packages =
toolchain-xtensa32 @ ~2.80400.0
framework-arduinoespressif32@https://github.com/espressif/arduino-esp32.git#2.0.2
```

Related: https://github.com/micro-ROS/micro_ros_arduino/issues/736, https://github.com/platformio/platform-espressif32/issues/616
PlatformIO support for this repository has been deprecated in favor of its own build system: [micro_ros_platformio](https://github.com/micro-ROS/micro_ros_platformio)

## How to build the precompiled library

Expand Down