micro_ros_platformio works on Raspberry Pi Pico (#39)

* Added untested support for rpi pico

* Update README.md

Add rpi pico to supported boards

* Update platformio.ini

* Added pico to Cl

* Update README.md

* Update ci/platformio.ini

Co-authored-by: Antonio Cuadros <[email protected]>

* Update README.md

Co-authored-by: Antonio Cuadros <[email protected]>

Author: delihus

.github/workflows/ci.yml

@@ -14,7 +14,7 @@ jobs:
         strategy:
           fail-fast: false
           matrix:
-            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, portenta_h7_m7_galactic, portenta_h7_m7_foxy, portenta_h7_m7_rolling, teensy41_custom]
+            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, portenta_h7_m7_galactic, portenta_h7_m7_foxy, portenta_h7_m7_rolling, teensy41_custom, pico]
 
         steps:
         - uses: actions/checkout@v3

README.md

@@ -39,6 +39,7 @@ Supported boards are:
 | `olimex_e407`                                | `ststm32`     | `arduino`   | `serial`                         | `colcon.meta`            |
 | `esp32dev`                                   | `espressif32` | `arduino`   | `serial` <br/> `wifi`            | `colcon.meta`            |
 | `nanorp2040connect`                          | `raspberrypi` | `arduino`   | `serial` <br/> `wifi_nina`       | `colcon_verylowmem.meta` |
+| `pico`                                       | `raspberrypi` | `arduino`   | `serial`                         | `colcon.meta`|
 
 The community is encouraged to open pull request with custom use cases.
 
@@ -236,6 +237,11 @@ see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
 
 - For `nanorp2040connect` board with `serial` transport, the library dependency finder shall be set to `chain+`:
 
+    ```ini
+    lib_ldf_mode = chain+
+    ```
+- For `pico` board with `serial` transport, the library dependency finder shall be set to `chain+`:
+
     ```ini
     lib_ldf_mode = chain+
     ```

ci/platformio.ini

@@ -118,6 +118,15 @@ lib_ldf_mode = chain+
 board_microros_transport = serial
 lib_deps =
     ../
+    
+[env:pico]
+platform = raspberrypi
+board = pico
+framework = arduino
+lib_ldf_mode = chain+
+board_microros_transport = serial
+lib_deps =
+    ../
 
 ; Ethernet platforms
 
@@ -164,4 +173,4 @@ board = teensy41
 framework = arduino
 board_microros_transport = custom
 lib_deps =
-    ../
+    ../

extra_script.py

@@ -20,7 +20,9 @@
     "esp32dev" : "colcon.meta",
     "olimex_e407" :  "colcon.meta",
     "due" : "colcon_verylowmem.meta",
-    "zero" : "colcon_verylowmem.meta"
+    "zero" : "colcon_verylowmem.meta",
+    "pico": "colcon.meta"
+
 }
 
 project_options = env.GetProjectConfig().items(env=env["PIOENV"], as_dict=True)
@@ -100,7 +102,7 @@ def build_microros(*args, **kwargs):
     #######################################################
 
     # Add library
-    if (board == "portenta_h7_m7" or board == "nanorp2040connect"):
+    if (board == "portenta_h7_m7" or board == "nanorp2040connect" or board == "pico"):
         # Workaround for including the library in the linker group
         #   This solves a problem with duplicated symbols in Galactic
         global_env["_LIBFLAGS"] = "-Wl,--start-group " + global_env["_LIBFLAGS"] + " -l{} -Wl,--end-group".format(builder.library_name)