nomumu · nomumu · Sep 12, 2022 · Jul 26, 2021 · Aug 31, 2021 · Sep 2, 2021
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -53,6 +53,7 @@ jobs:
           apt install -y python3-colcon-metadata python3-pip
           rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
+          apt install -y ros-${ROS_DISTRO}-rmw-fastrtps-cpp
 
       - uses: actions/download-artifact@v1
         with:
@@ -192,6 +193,7 @@ jobs:
       - name: Dependencies
         run: |
           apt update
+          apt upgrade -y
           apt install -y python3-colcon-metadata python3-pip
           rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
@@ -329,6 +329,7 @@ jobs:
       - name: Dependencies
         run: |
           apt update
+          apt upgrade -y
           apt install -y python3-colcon-metadata python3-pip
           rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
@@ -364,6 +365,8 @@ jobs:
             branch: foxy
           - distro: rolling
             branch: main
+          - distro: galactic
+            branch: galactic
 
     needs: micro_ros_build
     container: ros:${{ matrix.distro }}
@@ -380,6 +383,7 @@ jobs:
           apt install -y python3-colcon-metadata python3-pip
           rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
+          apt install -y ros-${ROS_DISTRO}-rmw-fastrtps-cpp
 
       - uses: actions/download-artifact@v1
         with:
@@ -399,4 +403,4 @@ jobs:
 
       - name: installation
         run: |
-            (test -f install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent) && true || false
+            (test -f install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent) && true || false
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -0,0 +1,19 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package micro_ros_setup
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1.0 (2022-05-25)
+------------------
+* Fix PyYaml unistall error (`#521 <https://github.com/micro-ROS/micro-ros-build/issues/521>`_)
+* Add renesas dummy meta (`#516 <https://github.com/micro-ROS/micro-ros-build/issues/516>`_) (`#517 <https://github.com/micro-ROS/micro-ros-build/issues/517>`_)
+* Add platformIO to Readme (`#510 <https://github.com/micro-ROS/micro-ros-build/issues/510>`_) (`#511 <https://github.com/micro-ROS/micro-ros-build/issues/511>`_)
+* Fix readme rosdep (`#506 <https://github.com/micro-ROS/micro-ros-build/issues/506>`_) (`#507 <https://github.com/micro-ROS/micro-ros-build/issues/507>`_)
+* 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>`_)
+* Remove Python 3.9 (backport `#496 <https://github.com/micro-ROS/micro-ros-build/issues/496>`_) (`#497 <https://github.com/micro-ROS/micro-ros-build/issues/497>`_)
+* Fix CI upgrade ROS docker (`#489 <https://github.com/micro-ROS/micro-ros-build/issues/489>`_)
+* 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>`_)
+* Fix CI
+
+1.0.0 (2022-03-28)
+------------------
+* Initial release
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -45,6 +45,7 @@ install(
     scripts/create_firmware_ws.sh
     scripts/configure_firmware.sh
     scripts/flash_firmware.sh
+    scripts/reset_firmware.sh
     scripts/build_firmware.sh
     scripts/build_agent.sh
     scripts/yaml_filter.py

diff --git a/README.md b/README.md
@@ -2,8 +2,9 @@
 This ROS 2 package is the entry point for building micro-ROS apps for different embedded platforms.
 
 - [Supported platforms](#supported-platforms)
-  - [Secondary build system tools](#secondary-build-system-tools)
+  - [Standalone build system tools](#standalone-build-system-tools)
 - [Dependencies](#dependencies)
+- [Quick start](#quick-start)
 - [Building](#building)
   - [Creating micro-ROS firmware](#creating-micro-ros-firmware)
   - [Configuring micro-ROS firmware](#configuring-micro-ros-firmware)
@@ -19,56 +20,67 @@ This ROS 2 package is the entry point for building micro-ROS apps for different
 
 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:
 
-| RTOS                                     | Platform                                                                                             | Version              | Example                      |
-| ---------------------------------------- | ---------------------------------------------------------------------------------------------------- | -------------------- | ---------------------------- |
-| [Nuttx](https://nuttx.org/)              | [Olimex STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware)          | v7.29                | `nuttx olimex-stm32-e407`    |
-| [FreeRTOS](https://www.freertos.org/)    | [Crazyflie 2.1](https://www.bitcraze.io/crazyflie-2-1/)                                              | v10.2.1 - CF 2020.06 | `freertos crazyflie21`       |
-| [FreeRTOS](https://www.freertos.org/)    | [Olimex STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware)          | STM32CubeMX latest   | `freertos olimex-stm32-e407` |
-| [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`     |
-| [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`     |
-| [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`     |
-| [FreeRTOS](https://www.freertos.org/)    | [ST Nucleo F767ZI](https://www.st.com/en/evaluation-tools/nucleo-f746zg.html)  <sup>1</sup>          | STM32CubeMX latest   | `freertos nucleo_f767zi`     |
-| [FreeRTOS](https://www.freertos.org/)    | [Espressif ESP32](https://www.espressif.com/en/products/socs/esp32/overview)                         | v8.2.0               | `freertos esp32`             |
-| [Zephyr](https://www.zephyrproject.org/) | [Olimex STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware)          | v2.6.0              | `zephyr olimex-stm32-e407`   |
-| [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` |
-| [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`       |
-| [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`                |
-| -                                        | Static library (.a) and headers (.h) <sup>3</sup>                                                    | -                    | `generate_lib`               |
-| Linux                                    | *Host <sup>2</sup>*                                                                                  | Ubuntu 18.04/20.04   | `host`                       |
+| RTOS                                                                                                                | Platform                                                                                                                                                                                 | Version                      | Example                      |
+| ------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------- | ---------------------------- |
+| [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`           |
+| [Nuttx](https://nuttx.org/)                                                                                         | [Olimex STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware)                                                                                              | v7.29                        | `nuttx olimex-stm32-e407`    |
+| [FreeRTOS](https://www.freertos.org/)                                                                               | [Crazyflie 2.1](https://www.bitcraze.io/crazyflie-2-1/)                                                                                                                                  | v10.2.1 - CF 2020.06         | `freertos crazyflie21`       |
+| [FreeRTOS](https://www.freertos.org/)                                                                               | [Olimex STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware)                                                                                              | STM32CubeMX latest           | `freertos olimex-stm32-e407` |
+| [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`     |
+| [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`     |
+| [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`     |
+| [FreeRTOS](https://www.freertos.org/)                                                                               | [ST Nucleo F767ZI](https://www.st.com/en/evaluation-tools/nucleo-f746zg.html)  <sup>1</sup>                                                                                              | STM32CubeMX latest           | `freertos nucleo_f767zi`     |
+| [FreeRTOS](https://www.freertos.org/)                                                                               | [Espressif ESP32](https://www.espressif.com/en/products/socs/esp32/overview)                                                                                                             | v8.2.0                       | `freertos esp32`             |
+| [Zephyr](https://www.zephyrproject.org/)                                                                            | [Olimex STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware)                                                                                              | v2.6.0                       | `zephyr olimex-stm32-e407`   |
+| [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` |
+| [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`       |
+| [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`                |
+| -                                                                                                                   | Static library (.a) and headers (.h) <sup>3</sup>                                                                                                                                        | -                            | `generate_lib`               |
+| Linux                                                                                                               | *Host <sup>2</sup>*                                                                                                                                                                      | Ubuntu 18.04/20.04           | `host`                       |
 
 *<sup>1</sup> Community supported, may have lack of official support*
 
 *<sup>2</sup> Support for compiling apps in a native Linux host for testing and debugging*
 
 *<sup>3</sup> a valid CMake toolchain with custom crosscompilation definition is required*
 
-Please note that NuttX with Olimex STM32-E407 board is the reference platform and not everything might be supported on other platforms.
-
-## Secondary build system tools
+## Standalone build system tools
 
 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:
 
+- 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.
 - 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.
 - 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.
+- 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.
+- 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.
+- 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.
+- 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.
+- a library builder for **[PlatformIO](https://github.com/micro-ROS/micro_ros_platformio)**: this package enables the integration of micro-ROS in PlatformIO.
 - 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.
+- 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.
 
 # Dependencies
 
 This package targets the **ROS 2** installation. ROS 2 supported distributions are:
 
-| ROS 2 Distro | State     | Branch    |
-| ------------ | --------- | --------- |
-| Crystal      | Supported | `crystal` |
-| Dashing      | Supported | `dashing` |
-| Foxy         | Supported | `foxy`    |
+| ROS 2 Distro | State     | Branch     |
+| ------------ | --------- | ---------- |
+| Crystal      | EOL       | `crystal`  |
+| Dashing      | EOL       | `dashing`  |
+| Foxy         | Supported | `foxy`     |
+| Galactic     | Supported | `galactic` |
+| Rolling      | Supported | `main`     |
 
 Some other prerequisites needed for building a firmware using this package are:
 
 ```
 sudo apt install python3-rosdep
 ```
+# Quick start
+
+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.
 
-# Building 
+# Building
 
 Create a ROS 2 workspace and build this package for a given ROS 2 distro (see table above):
 
@@ -79,7 +91,7 @@ mkdir uros_ws && cd uros_ws
 
 git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
 
-rosdep update && rosdep install --from-path src --ignore-src -y
+rosdep update && rosdep install --from-paths src --ignore-src -y
 
 colcon build
 
@@ -180,7 +192,7 @@ This folder contains up to four scripts:
 - `configure.sh`: modifies and configure parameters of the installed dependencies. This step is **optional**.
 - `build.sh`: builds the firmware and create a platform-specific linked binary.
 - `flash.sh`: flashes the binary in the target platform.
-  
+
 Some other required files inside the folder can be accessed from these scripts using the following paths:
 
 ```bash
@@ -211,4 +223,4 @@ see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
 
 There are no known limitations.
 
-If you find issues, [please report them](https://github.com/micro-ROS/micro_ros_setup/issues). 
+If you find issues, [please report them](https://github.com/micro-ROS/micro_ros_setup/issues).
diff --git a/config/agent_uros_packages.repos b/config/agent_uros_packages.repos
@@ -11,8 +11,3 @@ repositories:
     type: git
     url: https://github.com/micro-ROS/drive_base.git
     version: master
-  # TODO (pablogs9): Integrate Micro XRCE-DDS Agent dependency download in micro-ROS-Agent package
-  eProsima/Micro-XRCE-DDS-Agent:
-    type: git
-    url: https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-    version: foxy
diff --git a/config/freertos/nucleo_f446re/reset.sh b/config/freertos/nucleo_f446re/reset.sh
@@ -0,0 +1,17 @@
+EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f446re_extensions
+
+pushd $EXTENSIONS_DIR > /dev/null
+
+echo "Resetting firmware for $RTOS platform $PLATFORM"
+if lsusb -d 0483:374b; then
+  ST_INTERFACE=interface/stlink-v2-1.cfg
+elif lsusb -d 0483:3748; then
+  ST_INTERFACE=interface/stlink-v2.cfg
+else
+# TODO: add stlink v3, should it be stlink.cfg ?
+  echo "Error. Unsuported OpenOCD USB programmer"
+  exit 1
+fi
+openocd -f $ST_INTERFACE -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
+
+popd > /dev/null
diff --git a/config/freertos/nucleo_f446ze/reset.sh b/config/freertos/nucleo_f446ze/reset.sh
@@ -0,0 +1,17 @@
+EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_nucleo_f446ze_extensions
+
+pushd $EXTENSIONS_DIR > /dev/null
+
+echo "Resetting firmware for $RTOS platform $PLATFORM"
+if lsusb -d 0483:374b; then
+  ST_INTERFACE=interface/stlink-v2-1.cfg
+elif lsusb -d 0483:3748; then
+  ST_INTERFACE=interface/stlink-v2.cfg
+else
+# TODO: add stlink v3, should it be stlink.cfg ?
+  echo "Error. Unsuported OpenOCD USB programmer"
+  exit 1
+fi
+openocd -f $ST_INTERFACE -f target/stm32f4x.cfg -c init -c "reset halt" -c "reset" -c "exit"
+
+popd > /dev/null