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Bump ubuntu on rolling (#702)
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* Bump ubuntu

* Update

* Sync with Jazzy

* Remove unnecesary
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@pablogs9
pablogs9 authored Jun 3, 2024
1 parent cbe5088 commit bd3fbac
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106 changes: 47 additions & 59 deletions .github/workflows/ci.yml
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Expand Up @@ -15,7 +15,7 @@ jobs:
micro_ros_build:
runs-on: ubuntu-latest
container:
image: ubuntu:jammy
image: ubuntu:24.04
strategy:
fail-fast: false
steps:
Expand All @@ -32,8 +32,6 @@ jobs:
- name: Dependencies
run: |
apt update
apt install -y python3-pip
pip3 install colcon-common-extensions
rosdep update --rosdistro ${{ env.ROS_DISTRO }}
rosdep install --rosdistro ${{ env.ROS_DISTRO }} -y --from-paths src --ignore-src -y
Expand All @@ -51,60 +49,57 @@ jobs:
name: micro_ros_build_${{ inputs.ci_target_ref }}
path: install

# Skiped due to libfastcdr version 1 distributed en ROS 2 Rolling
# micro_ros_agent:
# runs-on: ubuntu-latest
# container:
# image: ubuntu:jammy
# strategy:
# fail-fast: false
# needs: micro_ros_build

# steps:
# - uses: actions/checkout@v4
# with:
# path: src/micro_ros_setup
# ref: ${{ inputs.ci_target_ref }}

# - uses: ros-tooling/[email protected]
# with:
# use-ros2-testing: false
# required-ros-distributions: ${{ env.ROS_DISTRO }}

# - name: dependencies
# run: |
# apt update
# apt install -y python3-pip
# pip3 install colcon-common-extensions
# apt install -y ros-${{ env.ROS_DISTRO }}-rmw-fastrtps-cpp
# rosdep update --rosdistro ${{ env.ROS_DISTRO }}
# rosdep install --rosdistro ${{ env.ROS_DISTRO }} -y --from-paths src --ignore-src -y

# - uses: actions/download-artifact@v1
# with:
# name: micro_ros_build_${{ inputs.ci_target_ref }}
# path: install

# # Workaround https://github.com/actions/upload-artifact/issues/38
# - run: |
# chmod +x -R install

# - name: build
# run: |
# . /opt/ros/${{ env.ROS_DISTRO }}/setup.sh
# . install/local_setup.sh
# ros2 run micro_ros_setup create_agent_ws.sh
# ros2 run micro_ros_setup build_agent.sh

# - name: installation
# run: |
# (test -f install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent) && true || false
micro_ros_agent:
runs-on: ubuntu-latest
container:
image: ubuntu:24.04
strategy:
fail-fast: false
needs: micro_ros_build

steps:
- uses: actions/checkout@v4
with:
path: src/micro_ros_setup
ref: ${{ inputs.ci_target_ref }}

- uses: ros-tooling/[email protected]
with:
use-ros2-testing: false
required-ros-distributions: ${{ env.ROS_DISTRO }}

- name: dependencies
run: |
apt update
apt install -y ros-${{ env.ROS_DISTRO }}-rmw-fastrtps-cpp
rosdep update --rosdistro ${{ env.ROS_DISTRO }}
rosdep install --rosdistro ${{ env.ROS_DISTRO }} -y --from-paths src --ignore-src -y
- uses: actions/download-artifact@v1
with:
name: micro_ros_build_${{ inputs.ci_target_ref }}
path: install

# Workaround https://github.com/actions/upload-artifact/issues/38
- run: |
chmod +x -R install
- name: build
run: |
. /opt/ros/${{ env.ROS_DISTRO }}/setup.sh
. install/local_setup.sh
ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
- name: installation
run: |
(test -f install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent) && true || false
micro_ros_client:
runs-on: ubuntu-latest
needs: micro_ros_build
container:
image: ubuntu:jammy
image: ubuntu:24.04
strategy:
fail-fast: false
matrix:
Expand Down Expand Up @@ -204,10 +199,6 @@ jobs:
configuration: weather_publisher
binary: 'firmware/bin/weather_publisher'

- rtos: mbed
platform: disco_l475vg_iot01a
binary: 'firmware/micro_ros_mbed/cmake_build/DISCO_L475VG_IOT01A/develop/GCC_ARM/micro_ros_mbed.bin'

steps:
- uses: actions/checkout@v4
with:
Expand All @@ -223,9 +214,6 @@ jobs:
run: |
apt update
apt upgrade -y
apt-get update
apt install -y python3-pip
pip3 install colcon-common-extensions cmake
rosdep update --rosdistro ${{ env.ROS_DISTRO }}
rosdep install --rosdistro ${{ env.ROS_DISTRO }} -y --from-paths src --ignore-src -y
Expand Down
24 changes: 11 additions & 13 deletions README.md
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Expand Up @@ -30,7 +30,6 @@ This package provides tools and utils to crosscompile micro-ROS with just the co

| RTOS | Platform | Version | Example | Recommended Alternative |
| ------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------- | ---------------------------- | -------------------------------------------------------------------------------------------------------------------------------------- |
| [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` | **[micro-ROS component for Renesas e<sup>2</sup> studio and RA6M5](https://github.com/micro-ROS/micro_ros_renesas2estudio_component)** |
| [FreeRTOS](https://www.freertos.org/) | [ST Nucleo F446RE](https://www.st.com/en/evaluation-tools/nucleo-f446re.html) <sup>1</sup> | STM32CubeMX latest | `freertos nucleo_f446re` | **[micro-ROS utils for STM32CubeMX and STM32CubeIDE](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils)** |
| [FreeRTOS](https://www.freertos.org/) | [ST Nucleo F446ZE](https://www.st.com/en/evaluation-tools/nucleo-f446ze.html) <sup>1</sup> | STM32CubeMX latest | `freertos nucleo_f446ze` | **[micro-ROS utils for STM32CubeMX and STM32CubeIDE](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils)** |
| [FreeRTOS](https://www.freertos.org/) | [ST Nucleo F746ZG](https://www.st.com/en/evaluation-tools/nucleo-f746zg.html) <sup>1</sup> | STM32CubeMX latest | `freertos nucleo_f746zg` | **[micro-ROS utils for STM32CubeMX and STM32CubeIDE](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils)** |
Expand All @@ -42,7 +41,6 @@ This package provides tools and utils to crosscompile micro-ROS with just the co
| [Zephyr](https://www.zephyrproject.org/) | [ST B-L475E-IOT01A](https://docs.zephyrproject.org/latest/boards/arm/disco_l475_iot1/doc/index.html) | v2.6.0 | `zephyr discovery_l475_iot1` | **[micro-ROS module for Zephyr RTOS](https://github.com/micro-ROS/micro_ros_zephyr_module)** |
| [Zephyr](https://www.zephyrproject.org/) | [ST Nucleo H743ZI](https://www.st.com/en/evaluation-tools/nucleo-h743zi.html) <sup>1</sup> | v2.6.0 | `zephyr nucleo_h743zi` | **[micro-ROS module for Zephyr RTOS](https://github.com/micro-ROS/micro_ros_zephyr_module)** |
| [Zephyr](https://www.zephyrproject.org/) | [Zephyr emulator](https://docs.zephyrproject.org/2.3.0/boards/posix/native_posix/doc/index.html) | v2.6.0 | `zephyr host` | **[micro-ROS module for Zephyr RTOS](https://github.com/micro-ROS/micro_ros_zephyr_module)** |
| [Mbed](https://os.mbed.com/) | [ST B-L475E-IOT01A](https://os.mbed.com/platforms/ST-Discovery-L475E-IOT01A/) | v6.6 | `mbed disco_l475vg_iot01a` | **[micro-ROS module for Mbed RTOS](https://github.com/micro-ROS/micro_ros_mbed)** |
| - | Static library (.a) and headers (.h) <sup>3</sup> | - | `generate_lib` | |
| Linux | *Host <sup>2</sup>* | Ubuntu 18.04/20.04 | `host` | |
| Android | [AOSP](https://source.android.com) <sup>1</sup> | Latest | `android generic` | |
Expand Down Expand Up @@ -162,17 +160,17 @@ Please note that each RTOS has its configuration approach that you might use for

In summary, the supported configurations for transports are:

| | FreeRTOS | Zephyr | Mbed |
| ----------------------------- | :---------------: | :----------------: | :---: |
| Olimex STM32-E407 | UART, Network | USB, UART | - |
| ST B-L475E-IOT01A | - | USB, UART, Network | UART |
| Crazyflie 2.1 | Custom Radio Link | - | - |
| Espressif ESP32 | UART, WiFI UDP | - | - |
| ST Nucleo F446RE <sup>1</sup> | UART | UART | - |
| ST Nucleo F446ZE <sup>1</sup> | UART | - | - |
| ST Nucleo H743ZI <sup>1</sup> | - | UART | - |
| ST Nucleo F746ZG <sup>1</sup> | UART | UART | - |
| ST Nucleo F767ZI <sup>1</sup> | UART | - | - |
| | FreeRTOS | Zephyr |
| ----------------------------- | :---------------: | :----------------: |
| Olimex STM32-E407 | UART, Network | USB, UART |
| ST B-L475E-IOT01A | - | USB, UART, Network |
| Crazyflie 2.1 | Custom Radio Link | - |
| Espressif ESP32 | UART, WiFI UDP | - |
| ST Nucleo F446RE <sup>1</sup> | UART | UART |
| ST Nucleo F446ZE <sup>1</sup> | UART | - |
| ST Nucleo H743ZI <sup>1</sup> | - | UART |
| ST Nucleo F746ZG <sup>1</sup> | UART | UART |
| ST Nucleo F767ZI <sup>1</sup> | UART | - |

*<sup>1</sup> Community supported, may have lack of official support*

Expand Down
4 changes: 2 additions & 2 deletions config/freertos/esp32/create.sh
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Expand Up @@ -19,14 +19,14 @@ pushd $FW_TARGETDIR >/dev/null
echo "Error: python3-pip package must be installed before continuing..."
exit 1
fi
pip3 install virtualenv
pip3 install virtualenv --break-system-packages
python3 esp-idf/tools/idf_tools.py install-python-env

eval $(python3 $FW_TARGETDIR/toolchain/esp-idf/tools/idf_tools.py export --prefer-system)

. $IDF_PATH/export.sh

pip3 install catkin_pkg lark-parser colcon-common-extensions
pip3 install catkin_pkg lark-parser colcon-common-extensions --break-system-packages

popd >/dev/null

Expand Down
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