environment

• Ubuntu 20.04
• ROS2 foxy
• mbed OS 6
• NUCLEO_F767ZI

When I tried to generate Transform.hpp from Transform.msg with header_generator.py, the generated file name wasTransfor.hpp. Maybe this code is the cause. https://github.com/mROS-base/mros2/blob/d66f3b15bb5f3cdf5f889ab0baa2bd5bd9cb5710/mros2_header_generator/msg_data_generator.py#L16

rstrip() removes the trailing characters from the string. In this case, it removes ".msg" from Transform.msg, but it removes all combines of.msg such as m, ms , g and so on. Therefore, not Transform.hpp but Transfor.hpp was generated.

As I've reported below, I have some trivial problems to compile your mros2 for Mbed environment. https://www.slideshare.net/smorita1/mros2-on-mbed

We know to implement an OS abstraction layer for the potability. But, it might be beneficial to port it , without such a layer, to another OS directly, as a first step.

Current implementation only supports the communication to Dashing distribution on the host. We need to support the communication to Foxy (and Galactic).

mros2 is going to v0.4.0!! This will fix #4

• track embeddedRTPS to newer version
  • the biggest contribution is multicast support!!
  • current version in mros2 is 1410a87, that is used in the latest embeddedRTPS-STM32
  • we will use the implementation of the original repository as it is from this version (IOW, no modification is necessary dedicated for mros2)
• mros2-posix has been published as the new supported platform!!
• Other minor but important fixes have been made.
• NOTE: mros2-asp3-f767zi has not been tracked yet,,, (see https://github.com/mROS-base/mros2-asp3-f767zi/issues/74)

Please just a moment for merging!! We need to revise README, and test this branch v0.4.0 with mros2-mbed (maybe by @s-hosoai). After that, I will merge this PR and create new release/tag as v0.4.0.

Humble Hawksbill, that is the latest LTS (until May 2027), has been released!! https://discourse.ros.org/t/ros-2-humble-hawksbill-released/25729

We should check whether mROS 2 on various platforms work well with this distribution on Ubuntu 22.04. If not, some tasks will happen to follow up the new world.

v0.4.0_rc has been prepared to mros2-posix. It does not currently have the feature to treat custom MsgType for Topic communication. This PR tries to realize it.

Background

mros2 is for embedded machines, but I'm trying to run mros2 on Linux process using embeddedRTPS-Linux.

Problem

• cmake
  • now CMakeLists.txt is for mbed, but mros2-posix needs some additional commands.
• warning
  • now address debug print is for 32bit, but mros2-posix is for 64bit. so compile warning is occured.

Fix

• cmake
  • cmake_minimum_required and project commands are added
  • cmake-build folder is added
• warning
  • address debug print is deleted.

Background

mros2 is for embedded machines, but I'm trying to run mros2 on Linux process using embeddedRTPS-Linux.

Problem(compile error for posix mros2)

1. __dso_handle is not needed
2. callback_handler is accessing private member data of ReaderCacheChange class

Fix

1. __dso_handle is compiled only defined USE_ASP3_FOR_STM macro
2. use getData() instead of accesing private member data

概要

mROS-base/mros2-asp3-f767zi#33 を参照する．

変更内容

関連issuesを参照してください．

ビルド手順

mROS-base/mros2-asp3-f767zi#33 を参照する．

関連issues

mROS-base/mros2-asp3-f767zi#30：refactoring source tree and submodules mROS-base/mros2-asp3-f767zi#31：plan and status of refactoring directory/file structure mROS-base/mros2-asp3-f767zi#32：Modularization Issue Response

Since it was just included in two stages, mros2.cpp will include templates.hpp which will be generated into platform's workspace directly from mros2.cpp

Since makefiles/ are specific to the target about mros2-asp3-f767zi (mros2 with TOPPERS/ASP3 kernel and STM32CubeMX lib), we decided to move these files to mros2-asp3-f767zi repository.

mros2_header_generator generates the header files of message types for mROS 2. Since the template files for this is not formatted, generated files also will not. We need to format the below template file. https://github.com/mROS-base/mros2/blob/main/mros2_header_generator/header_template.tpl