Add submodule for prebuilt MicroROS libs

Author: hierophect

.gitignore

@@ -9,7 +9,7 @@
 *.o
 *.a
 !atmel-samd/asf/**/*.a
-!ports/espressif/microros-ext/**/*.a
+!ports/espressif/microros-lib/**/*.a
 *.elf
 *.bin
 !*.toml.bin

.gitmodules

@@ -410,3 +410,6 @@
 [submodule "ports/analog/msdk"]
 	path = ports/analog/msdk
 	url = https://github.com/analogdevicesinc/msdk.git
+[submodule "ports/espressif/microros-lib"]
+	path = ports/espressif/microros-lib
+	url = https://github.com/hierophect/microros-lib.git

ports/espressif/Makefile

@@ -423,52 +423,52 @@ CFLAGS += -isystem esp-camera/conversions/include
 endif
 
 ifneq ($(CIRCUITPY_MICROROS),0)
-CFLAGS += -isystem microros-ext/include
-CFLAGS += -isystem microros-ext/include/rcl
-CFLAGS += -isystem microros-ext/include/statistics_msgs
-CFLAGS += -isystem microros-ext/include/composition_interfaces
-CFLAGS += -isystem microros-ext/include/example_interfaces
-CFLAGS += -isystem microros-ext/include/rmw_microxrcedds_c
-CFLAGS += -isystem microros-ext/include/test_msgs
-CFLAGS += -isystem microros-ext/include/std_msgs
-CFLAGS += -isystem microros-ext/include/rcutils
-CFLAGS += -isystem microros-ext/include/lifecycle_msgs
-CFLAGS += -isystem microros-ext/include/rosidl_typesupport_interface
-CFLAGS += -isystem microros-ext/include/service_msgs
-CFLAGS += -isystem microros-ext/include/visualization_msgs
-CFLAGS += -isystem microros-ext/include/rosidl_dynamic_typesupport
-CFLAGS += -isystem microros-ext/include/stereo_msgs
-CFLAGS += -isystem microros-ext/include/ucdr
-CFLAGS += -isystem microros-ext/include/rosidl_typesupport_c
-CFLAGS += -isystem microros-ext/include/std_srvs
-CFLAGS += -isystem microros-ext/include/rcl_lifecycle
-CFLAGS += -isystem microros-ext/include/action_msgs
-CFLAGS += -isystem microros-ext/include/micro_ros_utilities
-CFLAGS += -isystem microros-ext/include/rcl_action
-CFLAGS += -isystem microros-ext/include/rcl_logging_interface
-CFLAGS += -isystem microros-ext/include/type_description_interfaces
-CFLAGS += -isystem microros-ext/include/nav_msgs
-CFLAGS += -isystem microros-ext/include/actionlib_msgs
-CFLAGS += -isystem microros-ext/include/rmw
-CFLAGS += -isystem microros-ext/include/rclc_parameter
-CFLAGS += -isystem microros-ext/include/geometry_msgs
-CFLAGS += -isystem microros-ext/include/sensor_msgs
-CFLAGS += -isystem microros-ext/include/trajectory_msgs
-CFLAGS += -isystem microros-ext/include/shape_msgs
-CFLAGS += -isystem microros-ext/include/rosidl_runtime_c
-CFLAGS += -isystem microros-ext/include/rclc
-CFLAGS += -isystem microros-ext/include/rosgraph_msgs
-CFLAGS += -isystem microros-ext/include/rclc_lifecycle
-CFLAGS += -isystem microros-ext/include/rcl_interfaces
-CFLAGS += -isystem microros-ext/include/diagnostic_msgs
-CFLAGS += -isystem microros-ext/include/micro_ros_msgs
-CFLAGS += -isystem microros-ext/include/rosidl_typesupport_introspection_c
-CFLAGS += -isystem microros-ext/include/uxr
-CFLAGS += -isystem microros-ext/include/unique_identifier_msgs
-CFLAGS += -isystem microros-ext/include/rosidl_typesupport_microxrcedds_c
-CFLAGS += -isystem microros-ext/include/builtin_interfaces
-CFLAGS += -isystem microros-ext/include/tracetools
-CFLAGS += -isystem microros-ext/include/rmw_microros
+CFLAGS += -isystem microros-lib/include
+CFLAGS += -isystem microros-lib/include/rcl
+CFLAGS += -isystem microros-lib/include/statistics_msgs
+CFLAGS += -isystem microros-lib/include/composition_interfaces
+CFLAGS += -isystem microros-lib/include/example_interfaces
+CFLAGS += -isystem microros-lib/include/rmw_microxrcedds_c
+CFLAGS += -isystem microros-lib/include/test_msgs
+CFLAGS += -isystem microros-lib/include/std_msgs
+CFLAGS += -isystem microros-lib/include/rcutils
+CFLAGS += -isystem microros-lib/include/lifecycle_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_interface
+CFLAGS += -isystem microros-lib/include/service_msgs
+CFLAGS += -isystem microros-lib/include/visualization_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_dynamic_typesupport
+CFLAGS += -isystem microros-lib/include/stereo_msgs
+CFLAGS += -isystem microros-lib/include/ucdr
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_c
+CFLAGS += -isystem microros-lib/include/std_srvs
+CFLAGS += -isystem microros-lib/include/rcl_lifecycle
+CFLAGS += -isystem microros-lib/include/action_msgs
+CFLAGS += -isystem microros-lib/include/micro_ros_utilities
+CFLAGS += -isystem microros-lib/include/rcl_action
+CFLAGS += -isystem microros-lib/include/rcl_logging_interface
+CFLAGS += -isystem microros-lib/include/type_description_interfaces
+CFLAGS += -isystem microros-lib/include/nav_msgs
+CFLAGS += -isystem microros-lib/include/actionlib_msgs
+CFLAGS += -isystem microros-lib/include/rmw
+CFLAGS += -isystem microros-lib/include/rclc_parameter
+CFLAGS += -isystem microros-lib/include/geometry_msgs
+CFLAGS += -isystem microros-lib/include/sensor_msgs
+CFLAGS += -isystem microros-lib/include/trajectory_msgs
+CFLAGS += -isystem microros-lib/include/shape_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_runtime_c
+CFLAGS += -isystem microros-lib/include/rclc
+CFLAGS += -isystem microros-lib/include/rosgraph_msgs
+CFLAGS += -isystem microros-lib/include/rclc_lifecycle
+CFLAGS += -isystem microros-lib/include/rcl_interfaces
+CFLAGS += -isystem microros-lib/include/diagnostic_msgs
+CFLAGS += -isystem microros-lib/include/micro_ros_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_introspection_c
+CFLAGS += -isystem microros-lib/include/uxr
+CFLAGS += -isystem microros-lib/include/unique_identifier_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_microxrcedds_c
+CFLAGS += -isystem microros-lib/include/builtin_interfaces
+CFLAGS += -isystem microros-lib/include/tracetools
+CFLAGS += -isystem microros-lib/include/rmw_microros
 endif
 
 ifneq ($(CIRCUITPY_ESPIDF),0)
@@ -715,11 +715,11 @@ endif
 
 ifeq ($(CIRCUITPY_MICROROS),1)
 ifeq ($(IDF_TARGET),esp32)
-BINARY_BLOBS += microros-ext/esp32/libmicroros.a
+BINARY_BLOBS += microros-lib/esp32/libmicroros.a
 else ifeq ($(IDF_TARGET),esp32s2)
-BINARY_BLOBS+= microros-ext/esp32s2/libmicroros.a
+BINARY_BLOBS+= microros-lib/esp32s2/libmicroros.a
 else ifeq ($(IDF_TARGET),esp32s3)
-BINARY_BLOBS += microros-ext/esp32s3/libmicroros.a
+BINARY_BLOBS += microros-lib/esp32s3/libmicroros.a
 endif
 endif