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pablogs9 merged 2 commits into from
Sep 2, 2021
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Update standalone build tools section (backport #380) #382

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Update standalone build tools section (#380)
pablogs9 Sep 2, 2021
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38 changes: 22 additions & 16 deletions README.md
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Expand Up @@ -2,7 +2,7 @@
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)
- [Building](#building)
- [Creating micro-ROS firmware](#creating-micro-ros-firmware)
Expand All @@ -29,10 +29,10 @@ This package is the **official build system for micro-ROS**. It provides tools a
| [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` |
| [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` |

Expand All @@ -42,33 +42,39 @@ This package is the **official build system for micro-ROS**. It provides tools a

*<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 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
```

# Building
# Building

Create a ROS 2 workspace and build this package for a given ROS 2 distro (see table above):

Expand Down Expand Up @@ -180,7 +186,7 @@ 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
Expand Down Expand Up @@ -211,4 +217,4 @@ 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).