arjav1528 opened a new pull request, #3498:
URL: https://github.com/apache/nuttx-apps/pull/3498
## Summary
This PR implements Phase 3 of the micro-ROS NuttX integration: an automated
build pipeline that fetches all upstream micro-ROS jazzy packages,
cross-compiles
them with colcon and a NuttX CMake toolchain, and merges the resulting static
libraries into a single `libmicroros.a` ready for linking into a NuttX image.
## Impact
- **Users:** Applications that enable `CONFIG_SYSTEM_MICROROS` automatically
get `libmicroros.a` linked in and all micro-ROS headers available under
`system/microros/include/`. No manual build steps are required.
- **Build:** `make context` in the apps tree triggers the colcon build the
first
time; subsequent builds are incremental. Full build time on a 2-core
machine
is approximately 4–5 minutes. `make distclean` fully removes all
downloaded
sources.
- **Disk:** The colcon build requires approximately 1.5 GB of temporary build
space; only `libmicroros.a` (~13–80 MB depending on included message types)
and the headers are retained after the build.
- **Dependencies:** Host requires `colcon-common-extensions`, `cmake ≥ 3.16`,
Python 3, and a C/C++ cross-compiler matching `$(CROSSDEV)`.
- **Compatibility:** No existing app or config is modified. The feature is
entirely gated behind `CONFIG_SYSTEM_MICROROS`.
## Testing
**Host:** Ubuntu 22.04 (EC2 `t3.medium`), `gcc 13`, `cmake 3.28`, `colcon
0.3`
**Target:** `stm32f4discovery:nsh` (ARM Cortex-M4, `arm-none-eabi-gcc 14.2`)
— library produced but not yet run on hardware due to availability issues.
**Verified with `make context` end-to-end:**
```
$ cd ~/nuttx-apps/system/microros && rm -f micro_ros_lib/toolchain.cmake \
micro_ros_lib/colcon.meta libmicroros.a && rm -rf include && \
make context APPDIR=~/nuttx-apps TOPDIR=~/nuttx CC=gcc CXX=g++ \
CONFIG_MICROROS_DISTRO='"jazzy"' CONFIG_MICROROS_MAX_NODES=8 \
CONFIG_MICROROS_MAX_PUBLISHERS=16 CONFIG_MICROROS_MAX_SUBSCRIPTIONS=16 \
CONFIG_MICROROS_MAX_SERVICES=4 CONFIG_MICROROS_MAX_CLIENTS=4 \
CONFIG_ARCH_ARM=y 2>&1 | tail -3
Summary: 72 packages finished [4min 27s]
$ ls -lh ~/nuttx-apps/system/microros/libmicroros.a
-rw-rw-r-- 1 ubuntu ubuntu 13M May 23 16:47 libmicroros.a
$ ar t ~/nuttx-apps/system/microros/libmicroros.a | wc -l
1492
$ ls ~/nuttx-apps/system/microros/include/ | wc -l
44
```
[phase3.log](https://github.com/user-attachments/files/28183341/phase3.log)
**`make clean` verified** removes `libmicroros.a`, `include/`,
`toolchain.cmake`,
and `colcon.meta`.
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