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* Modified zephyr create.sh to pull correct toolchain based on arch (`#499 <https://github.com/micro-ROS/micro-ros-build/issues/499>`_) (`#501 <https://github.com/micro-ROS/micro-ros-build/issues/501>`_)
* Fix CI upgrade ROS docker (`#489 <https://github.com/micro-ROS/micro-ros-build/issues/489>`_)
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* Fix Agent and host Rolling CI (backport `#486 <https://github.com/micro-ROS/micro-ros-build/issues/486>`_) (`#487 <https://github.com/micro-ROS/micro-ros-build/issues/487>`_)
@@ -19,56 +20,67 @@ This ROS 2 package is the entry point for building micro-ROS apps for different
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This package is the **official build system for micro-ROS**. It provides tools and utils to crosscompile micro-ROS with just the common ROS 2 tools for these platforms:
|[Azure RTOS](https://azure.microsoft.com/es-es/services/rtos/) / [FreeRTOS](https://www.freertos.org/) / Bare metal |[Renesas RA6M5](https://www.renesas.com/us/en/products/microcontrollers-microprocessors/ra-cortex-m-mcus/ra6m5-200mhz-arm-cortex-m33-trustzone-highest-integration-ethernet-and-can-fde)| Renesas e<sup>2</sup> studio |`renesas_ra ra6m5`|
| Linux |*Host <sup>2</sup>*| Ubuntu 18.04/20.04 |`host`|
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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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Please note that NuttX with Olimex STM32-E407 board is the reference platform and not everything might be supported on other platforms.
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## Secondary build system tools
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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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- a standalone **[micro-ROS component for Renesas e<sup>2</sup> studio and RA6M5](https://github.com/micro-ROS/micro_ros_renesas2estudio_component)**: this package enables the integration of micro-ROS in Renesas e<sup>2</sup> studio and RA6M5 MCU family.
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- a standalone **[micro-ROS component for ESP-IDF](https://github.com/micro-ROS/micro_ros_espidf_component)**: this package enables the integration of micro-ROS in any Espressif ESP32 IDF project.
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- a standalone **[micro-ROS module for Zephyr RTOS](https://github.com/micro-ROS/micro_ros_zephyr_module)**: this package enables the integration of micro-ROS in any Zephyr RTOS workspace.
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- a standalone **[micro-ROS module for Mbed RTOS](https://github.com/micro-ROS/micro_ros_mbed)**: this package enables the integration of micro-ROS in any Mbed RTOS workspace.
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- a standalone **[micro-ROS module for NuttX RTOS](https://github.com/micro-ROS/micro_ros_nuttx_app)**: this package enables the integration of micro-ROS in any NuttX RTOS workspace.
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- a standalone **[micro-ROS module for Microsoft Azure RTOS](https://github.com/micro-ROS/micro_ros_azure_rtos_app)**: this package enables the integration of micro-ROS in a Microsoft Azure RTOS workspace.
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- a set of **[micro-ROS utils for STM32CubeMX and STM32CubeIDE](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils)**: this package enables the integration of micro-ROS in STM32CubeMX and STM32CubeIDE.
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- a library builder for **[PlatformIO](https://github.com/micro-ROS/micro_ros_platformio)**: this package enables the integration of micro-ROS in PlatformIO.
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- a precompiled set of **[Arduino IDE libraries](https://github.com/micro-ROS/micro_ros_arduino)**: this package enables the integration of micro-ROS in the Arduino IDE for some hardware platforms.
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- a precompiled set of **[Raspberry Pi Pico SDK libraries](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk)**: this package enables the integration of micro-ROS in the Raspberry Pi Pico SDK.
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# Dependencies
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This package targets the **ROS 2** installation. ROS 2 supported distributions are:
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| ROS 2 Distro | State | Branch |
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| ------------ | --------- | --------- |
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| Crystal | Supported |`crystal`|
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| Dashing | Supported |`dashing`|
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| Foxy | Supported |`foxy`|
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| ROS 2 Distro | State | Branch |
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| ------------ | --------- | ---------- |
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| Crystal | EOL |`crystal`|
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| Dashing | EOL |`dashing`|
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| Foxy | Supported |`foxy`|
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| Galactic | Supported |`galactic`|
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| Rolling | Supported |`main`|
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Some other prerequisites needed for building a firmware using this package are:
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```
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sudo apt install python3-rosdep
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```
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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.
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# Building
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# Building
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Create a ROS 2 workspace and build this package for a given ROS 2 distro (see table above):
![mergify[bot]](https://avatars.githubusercontent.com/in/10562?v=4&size=40){kind=avatar}
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