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Add Nano RP2040 Connect support (#301)
* Add Nano RP2040 Connect support * Update readme
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‎.github/workflows/ci.yml

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@@ -54,6 +54,7 @@ jobs:
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# BUILDING EXAPLE FOR EACH PLATFORM
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arduino-cli core update-index
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arduino-cli lib update-index
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arduino-cli lib install WiFiNINA
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# Build all demos
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arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_addtwoints_service -v
@@ -63,11 +64,13 @@ jobs:
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arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_tf_publisher -v
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arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_time_sync -v
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# Build one demo for each platform
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arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn teensy:avr:teensy35 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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# arduino-cli compile --fqbn arduino:mbed:envie_m4 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v

‎README.md

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@@ -5,14 +5,15 @@ As the build process for ROS 2 and micro-ROS is based on custom meta-build syste
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Supported boards are:
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| Board | Min version | State | Details | Prebuild meta |
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| ------------------------------------------------------------------------ | ----------- | ---------- | --------------------------------------------------------------------------------------------------- | -------------------- |
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| [Arduino Portenta H7 M7 Core](https://store.arduino.cc/portenta-h7) | v1.8.5 | Supported | Official Arduino support | `colcon.meta` |
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| [OpenCR](https://emanual.robotis.com/docs/en/parts/controller/opencr10/) | v1.4.16 | Supported | [Based on custom board](https://emanual.robotis.com/docs/en/parts/controller/opencr10/#arduino-ide) | `colcon.meta` |
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| [Teensy 4.0](https://www.pjrc.com/store/teensy40.html) | v1.8.5 | Not tested | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html) | `colcon.meta` |
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| [Teensy 4.1](https://www.pjrc.com/store/teensy41.html) | v1.8.5 | Supported | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html) | `colcon.meta` |
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| [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html) | v1.8.5 | Supported | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html) | `colcon_lowmem.meta` |
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| [Teensy 3.5](https://www.pjrc.com/store/teensy35.html) | v1.8.5 | Not tested | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html) | `colcon_lowmem.meta` |
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| Board | Min version | State | Details | Prebuild meta |
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| ----------------------------------------------------------------------------------- | ----------- | ---------- | --------------------------------------------------------------------------------------------------- | ------------------------ |
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| [Arduino Portenta H7 M7 Core](https://store.arduino.cc/portenta-h7) | v1.8.5 | Supported | Official Arduino support | `colcon.meta` |
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| [Arduino Nano RP2040 Connect](https://docs.arduino.cc/hardware/nano-rp2040-connect) | v1.8.5 | Supported | Official Arduino support | `colcon_verylowmem.meta` |
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| [OpenCR](https://emanual.robotis.com/docs/en/parts/controller/opencr10/) | v1.4.16 | Supported | [Based on custom board](https://emanual.robotis.com/docs/en/parts/controller/opencr10/#arduino-ide) | `colcon.meta` |
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| [Teensy 4.0](https://www.pjrc.com/store/teensy40.html) | v1.8.5 | Not tested | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html) | `colcon.meta` |
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| [Teensy 4.1](https://www.pjrc.com/store/teensy41.html) | v1.8.5 | Supported | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html) | `colcon.meta` |
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| [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html) | v1.8.5 | Supported | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html) | `colcon_lowmem.meta` |
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| [Teensy 3.5](https://www.pjrc.com/store/teensy35.html) | v1.8.5 | Not tested | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html) | `colcon_lowmem.meta` |
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Community contributed boards are:
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‎examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino

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#include <std_msgs/msg/int32.h>
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#ifndef TARGET_PORTENTA_H7_M7
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#error This example is only avaible for Arduino Portenta
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#if !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT)
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#error This example is only avaible for Arduino Portenta and Arduino Nano RP2040 Connect
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#endif
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rcl_publisher_t publisher;
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}
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void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
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{
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{
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RCLC_UNUSED(last_call_time);
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if (timer != NULL) {
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RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
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void setup() {
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set_microros_wifi_transports("WIFI SSID", "WIFI PASS", "192.168.1.57", 8888);
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pinMode(LED_PIN, OUTPUT);
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digitalWrite(LED_PIN, HIGH);
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digitalWrite(LED_PIN, HIGH);
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delay(2000);
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allocator = rcl_get_default_allocator();

‎src/micro_ros_arduino.h

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@@ -32,10 +32,15 @@ static inline void set_microros_transports(){
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);
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}
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#ifdef TARGET_PORTENTA_H7_M7
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#if defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT)
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#if defined(TARGET_PORTENTA_H7_M7)
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#include <WiFi.h>
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#include <WiFiUdp.h>
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#else defined(ARDUINO_NANO_RP2040_CONNECT)
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#include <SPI.h>
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#include <WiFiNINA.h>
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#endif
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extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport);
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extern "C" bool arduino_wifi_transport_close(struct uxrCustomTransport * transport);
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);
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}
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#endif // TARGET_PORTENTA_H7_M7
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#endif
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#endif // MICRO_ROS_ARDUINO

‎src/wifi_transport.cpp

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#ifdef TARGET_PORTENTA_H7_M7
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#if defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT)
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#include <Arduino.h>
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#if defined(TARGET_PORTENTA_H7_M7)
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#include <WiFi.h>
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#include <WiFiUdp.h>
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#else defined(ARDUINO_NANO_RP2040_CONNECT)
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#include <SPI.h>
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#include <WiFiNINA.h>
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#endif
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#include <micro_ros_arduino.h>
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}
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size_t readed = udp_client.read(buf, len);
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return (readed < 0) ? 0 : readed;
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}
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}
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#endif // TARGET_PORTENTA_H7_M7
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#endif
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