uros_ws

Build micro-ROS

In general, you should not care about this folder except you want to recompile ROS 2.

Compile

Follow this tutorial to install micro-ROS and then:

mkdir src
ros2 run micro_ros_setup create_firmware_ws.sh generate_lib

cp serial_transport_external.h firmware/mcu_ws/eProsima/Micro-XRCE-DDS-Client/include/uxr/client/profile/transport/serial/
touch firmware/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/profile/transport/serial/serial_transport_external.c
ros2 run micro_ros_setup build_firmware.sh ${PWD}/toolchain.cmake ${PWD}/colcon.meta

Relevant Files

Here is a list of the relavant files:

• colcon.meta: Arguments used to configure individal ament packages.
• serial_transport_external.h: Declaration of the external serial transport protocol.
• toolchain.cmake: Toolchain configuration.