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mergify[bot]kneep
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kneep
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Add android support config (#396) (#405)
Signed-off-by: Joel Cao <[email protected]> Co-authored-by: Joel Cao <[email protected]> (cherry picked from commit 967e7ad) Co-authored-by: kneep <[email protected]>
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‎README.md‎

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@@ -37,13 +37,16 @@ This package is the **official build system for micro-ROS**. It provides tools a
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| [Mbed](https://os.mbed.com/) | [ST B-L475E-IOT01A](https://os.mbed.com/platforms/ST-Discovery-L475E-IOT01A/) | v6.6 | `mbed disco_l475vg_iot01a` |
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| - | Static library (.a) and headers (.h) <sup>3</sup> | - | `generate_lib` |
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| Linux | *Host <sup>2</sup>* | Ubuntu 18.04/20.04 | `host` |
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| Android | [AOSP](https://source.android.com) <sup>4</sup> | Latest | `android generic` |
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*<sup>1</sup> Community supported, may have lack of official support*
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*<sup>2</sup> Support for compiling apps in a native Linux host for testing and debugging*
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*<sup>3</sup> a valid CMake toolchain with custom crosscompilation definition is required*
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*<sup>4</sup> Community supported, may have lack of official support*
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## Standalone build system tools
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micro-ROS also offers some other ways to crosscompile it for different platforms. These other options are secondary tools and may not have full support for all features. Currently micro-ROS is also available as:
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```
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sudo apt install python3-rosdep
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```
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Building for Android needs [Latest Android NDK](https://developer.android.com/ndk/downloads) to be installed and the following environment variables to be set:
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- ```ANDROID_ABI```: CPU variant, refer [here](https://developer.android.com/ndk/guides/abis) for details.
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- ```ANDROID_NATIVE_API_LEVEL```: Android platform version, refer [here](https://developer.android.com/ndk/guides/cmake#android_native_api_level) for details.
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- ```ANDROID_NDK```: root path of the installed NDK.
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# Quick start
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Download [here](https://www.eprosima.com/index.php/downloads-all) the micro-ROS docker image that contains a pre-installed client and agent as well as some compiled examples.

‎config/android/dev_ros2_packages.txt‎

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keep:
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ament/ament_cmake
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ament/ament_index
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ament/ament_lint
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ament/ament_package
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ament/googletest
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ament/osrf_pycommon
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ament/uncrustify_vendor
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ros2/ament_cmake_ros

‎config/android/dev_uros_packages.repos‎

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repositories:

‎config/android/generic/build.sh‎

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. $PREFIX/config/utils.sh
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if [ $# -ge 1 ]; then
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TOOLCHAIN=$1
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else
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echo "Syntax: ros2 run micro_ros_setup build_firmware.sh <CMake toolchain file> [Colcon meta file]"
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exit 1
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fi
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if [ $# -ge 2 ]; then
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COLCON_META=$2
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echo "Using provided meta: $COLCON_META"
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else
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COLCON_META=$FW_TARGETDIR/mcu_ws/colcon.meta
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echo "Using default meta: $COLCON_META"
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fi
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BUILD_DIR=$FW_TARGETDIR/build
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pushd $FW_TARGETDIR/mcu_ws >/dev/null
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# Set these variables according to your own environment.
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if [ -z ${ANDROID_ABI+x} ]; then
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ANDROID_ABI=arm64-v8a
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fi
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if [ -z ${ANDROID_NATIVE_API_LEVEL+x} ]; then
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ANDROID_NATIVE_API_LEVEL=android-30
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fi
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if [ -z ${ANDROID_NDK+x} ]; then
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ANDROID_NDK=~/android-ndk-r23
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fi
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# rm -rf build install log
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colcon build --packages-up-to micro_ros_demos_rclc \
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--merge-install \
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--packages-ignore-regex=.*_cpp \
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--metas $COLCON_META \
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--cmake-args \
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"--no-warn-unused-cli" \
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-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF \
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-DBUILD_SHARED_LIBS=ON \
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-DCMAKE_TOOLCHAIN_FILE=${ANDROID_NDK}/build/cmake/android.toolchain.cmake \
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-DCMAKE_FIND_ROOT_PATH_MODE_PACKAGE=BOTH \
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-DANDROID_FUNCTION_LEVEL_LINKING=OFF \
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-DANDROID_NATIVE_API_LEVEL=${ANDROID_NATIVE_API_LEVEL} \
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-DANDROID_STL=c++_shared \
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-DANDROID_ABI=${ANDROID_ABI} \
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-DANDROID_NDK=${ANDROID_NDK} \
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-DANDROID=ON \
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-DTHIRDPARTY=ON \
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-DBUILD_TESTING=OFF \
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-DBUILD_MEMORY_TOOLS=OFF \
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-DBUILD_MEMORY_TESTS=OFF \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_VERBOSE_MAKEFILE:BOOL=ON
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popd >/dev/null
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‎config/android/generic/client-colcon.meta‎

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{
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"names":{
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"microxrcedds_client":{
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"cmake-args":[
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"-DBUILD_SHARED_LIBS=ON",
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"-DUCLIENT_PROFILE_MULTITHREAD=ON"
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]
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},
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"microcdr":{
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"cmake-args":[
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"-DBUILD_SHARED_LIBS=ON"
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]
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},
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"rosidl_typesupport_microxrcedds_c":{
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"cmake-args":[
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"-DBUILD_SHARED_LIBS=ON"
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]
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},
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"rosidl_typesupport_microxrcedds_cpp":{
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"cmake-args":[
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"-DBUILD_SHARED_LIBS=ON"
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]
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},
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"rclc_parameter":{
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"cmake-args":[
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"-DBUILD_SHARED_LIBS=ON"
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]
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},
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"rcutils":{
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"cmake-args":[
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"-DENABLE_TESTING=OFF"
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]
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},
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"rmw_microxrcedds":{
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"cmake-args":[
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"-DRMW_UXRCE_TRANSPORT=udp",
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"-DRMW_UXRCE_DEFAULT_UDP_IP=127.0.0.1",
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"-DRMW_UXRCE_DEFAULT_UDP_PORT=8888",
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"-DRMW_UXRCE_MAX_NODES=15",
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"-DRMW_UXRCE_MAX_PUBLISHERS=15",
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"-DRMW_UXRCE_MAX_SUBSCRIPTIONS=15",
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"-DRMW_UXRCE_MAX_SERVICES=15",
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"-DRMW_UXRCE_MAX_CLIENTS=15",
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"-DRMW_UXRCE_STREAM_HISTORY=32",
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"-DRMW_UXRCE_MAX_HISTORY=10"
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]
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}
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}
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}

‎config/android/generic/client_uros_packages.repos‎

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repositories:
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eProsima/Micro-CDR:
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type: git
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url: https://github.com/eProsima/Micro-CDR.git
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version: foxy
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eProsima/Micro-XRCE-DDS-Client:
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type: git
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url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
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version: foxy
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# MicroROS
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uros/rcl:
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type: git
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url: https://github.com/micro-ROS/rcl
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version: galactic
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uros/rclc:
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type: git
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url: https://github.com/ros2/rclc
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version: galactic
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uros/micro_ros_utilities:
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type: git
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url: https://github.com/micro-ROS/micro_ros_utilities
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version: main
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version: galactic
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uros/rcutils:
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type: git
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url: https://github.com/micro-ROS/rcutils
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version: galactic
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uros/micro_ros_msgs:
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type: git
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url: https://github.com/micro-ROS/micro_ros_msgs.git
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version: galactic
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uros/rmw_microxrcedds:
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type: git
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url: https://github.com/micro-ROS/rmw-microxrcedds.git
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version: galactic
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uros/rosidl_typesupport:
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type: git
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url: https://github.com/micro-ROS/rosidl_typesupport.git
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version: galactic
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uros/rosidl_typesupport_microxrcedds:
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type: git
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url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
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version: galactic
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uros/tracetools:
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type: git
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url: https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/
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version: galactic
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uros/micro-ROS-demos:
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type: git
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url: https://github.com/micro-ROS/micro-ROS-demos.git
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version: galactic

‎config/android/generic/create.sh‎

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pushd $FW_TARGETDIR >/dev/null
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# ignore broken packages
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touch mcu_ws/ros2/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE
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touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
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touch mcu_ws/ros2/rcl/COLCON_IGNORE
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touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
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touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
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touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
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popd >/dev/null

‎config/android/generic/flash.sh‎

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echo "No flash step"
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echo "Please find library and includes inside firmware/build folder"

‎config/android/generic/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="2">
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<name>firmware</name>
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<version>0.0.0</version>
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<description>Micro-ROS dependecies for Android</description>
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<maintainer email="[email protected]">Joel Cao</maintainer>
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<license>APL2</license>
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<build_depend>gperf</build_depend>
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<build_depend>wget</build_depend>
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</package>

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