How to use Micro-ROS with PlatformIO (#617) (#619)

* added support for STM32F4 and Ethernet

* Revert library changes

Signed-off-by: Pablo Garrido <[email protected]>

* added info about using Micro-ROS with PlatformIO

* prefity the README

* Minor mods

Signed-off-by: Pablo Garrido <[email protected]>

* Add table of contents

Signed-off-by: Pablo Garrido <[email protected]>

Co-authored-by: Pablo Garrido <[email protected]>
(cherry picked from commit bfe1696)

# Conflicts:
#	README.md

Co-authored-by: Dominik Nowak <[email protected]>

Author: mergify[bot]

README.md

@@ -4,6 +4,21 @@ This is a micro-ROS library for baremetal projects based on Arduino IDE or Ardui
 
 As the build process for ROS 2 and micro-ROS is based on custom meta-build system tools and CMake, this library is provided as a precompiled library. Anyways, users can rebuild its own precompiled libraries in order to modify micro-ROS parameters, for example customizing prebuild meta file.
 
+- [micro-ROS for Arduino](#micro-ros-for-arduino)
+  - [Supported boards](#supported-boards)
+  - [How to use the precompiled library](#how-to-use-the-precompiled-library)
+    - [Arduino IDE](#arduino-ide)
+    - [PlatformIO](#platformio)
+  - [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)
+    - [Patch SAMD](#patch-samd)
+  - [Purpose of the Project](#purpose-of-the-project)
+  - [License](#license)
+  - [Known Issues/Limitations](#known-issueslimitations)
+
+## Supported boards
+
 Supported boards are:
 
 | Board                                                                               | Min version | State      | Details                                                                                             | Prebuild meta            |
@@ -19,29 +34,62 @@ Supported boards are:
 
 Community contributed boards are:
 
-| Board                                                           | Min version | Contributor                                    | Details | Prebuild meta            |
-| --------------------------------------------------------------  | ----------- | ---------------------------------------------- | ------- | ------------------------ |
-| [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`            |
+| Board                                                                                    | Min version | Contributor                                    | Details | Prebuild meta            |
+| ---------------------------------------------------------------------------------------- | ----------- | ---------------------------------------------- | ------- | ------------------------ |
+| [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`            |
 
 You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).
 
 ## How to use the precompiled library
 
+<<<<<<< HEAD
 Go to [link to release section](https://github.com/micro-ROS/micro_ros_arduino/releases) and download the last release of micro-ROS library for Arduino. 
+=======
+### Arduino IDE
+
+Go to [link to release section](https://github.com/micro-ROS/micro_ros_arduino/releases) and download the last release of micro-ROS library for Arduino.
+>>>>>>> bfe1696 (How to use Micro-ROS with PlatformIO (#617))
 
 Include it in your proyect using `Sketch -> Include library -> Add .ZIP Library...`
 
 You can test micro-ROS examples located in this repo examples folder.
 
-Is possible to use a micro-ROS Agent just with this docker command:
+Remember that is possible to use a micro-ROS Agent just with this docker command:
 
 ```bash
 # Serial micro-ROS Agent
 docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy serial --dev [YOUR BOARD PORT] -v6
+```
+### 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>
+```
+
+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).
 ## How to build the precompiled library
 
 ```bash