updates project to work with zephyr v4.0.x (micro-ROS#146)

* updates project to work with zephyr v4.0.x

* updating workflows for zephyr v4.0.x

* adds cmake prefix path, changes to ci image

* adds manual trigger to ci workflows

* updates CI workflows for all active ROS2 distros

* Get uart device with Zephyr 4's Devicetree-centric approach

Signed-off-by: Antón Casas <[email protected]>

* Tested in v4.1.0 using manual installation on Ubuntu:24.04 base Docker image

Signed-off-by: Antón Casas <[email protected]>

* Add v4.1.0 to CI and nightly

Signed-off-by: Antón Casas <[email protected]>

* State SDK used in CI. Restore Z0rdon's info about docker image used.

Signed-off-by: Antón Casas <[email protected]>

---------

Signed-off-by: Antón Casas <[email protected]>
Co-authored-by: Antón Casas <[email protected]>

Author: Z0rdon

CMakeLists.txt

@@ -52,10 +52,9 @@ externalproject_add(libmicroros_project
     BUILD_BYPRODUCTS ${MICROROS_DIR}/libmicroros.a
     )
 
-zephyr_library_import(libmicroros ${MICROROS_DIR}/libmicroros.a)
+zephyr_link_libraries(${MICROROS_DIR}/libmicroros.a)
 
 zephyr_interface_library_named(microros)
-add_dependencies(microros libmicroros)
 add_dependencies(microros libmicroros_project)
 target_include_directories(microros INTERFACE ${MICROROS_DIR}/include)
 
@@ -96,7 +95,6 @@ zephyr_library_sources(
 
 add_dependencies(microros microros_transports)
 add_dependencies(microros_transports libmicroros_project)
-add_dependencies(microros_transports libmicroros)
 
 # Cleaning
 

microros_transports/serial/microros_transports.c

@@ -24,6 +24,7 @@
 #include <stdbool.h>
 
 #define RING_BUF_SIZE 2048
+#define UART_NODE DT_NODELABEL(usart1)
 
 char uart_in_buffer[RING_BUF_SIZE];
 char uart_out_buffer[RING_BUF_SIZE];
@@ -52,9 +53,7 @@ static void uart_fifo_callback(const struct device * dev, void * args){
 bool zephyr_transport_open(struct uxrCustomTransport * transport){
     zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
 
-    char uart_descriptor[8];
-    sprintf(uart_descriptor,"UART_%d", params->fd);
-    params->uart_dev = device_get_binding(uart_descriptor);
+    params->uart_dev = DEVICE_DT_GET(UART_NODE);
     if (!params->uart_dev) {
         printk("Serial device not found\n");
         return false;