arjav1528 opened a new pull request, #3512:
URL: https://github.com/apache/nuttx-apps/pull/3512
Phase 4 of micro-ROS-on-NuttX. Adds the transport callbacks Micro
XRCE-DDS needs and a minimal publisher example. Split into 4 commits:
1. `system/microros: Fix toolchain attribute strip breaking libc inlines.`
Drop `-D'__attribute__(x)='` from `toolchain.cmake.in`. The strip also removed
`__gnu_inline__` from NuttX libc `string.h` inlines, causing ~50
multiple-definition errors at sim final link.
2. `system/microros: Wire libmicroros include layout and sim final link.`
Enumerate `include/*` subdirs so both `<rcl/rcl.h>` (nested colcon layout) and
`<rclc/rclc.h>` (flat) resolve. Switch `LDLIBS` → `EXTRA_LIBS` so the sim final
link picks up `libmicroros.a`.
3. `system/microros: Add UDP and serial custom transport backends.` New
`transport/` dispatcher + UDP (BSD sockets, unconnected `sendto`/`recvfrom` so
host-mode docker agent replies are accepted) + serial (termios, raw 8N1). Wired
into Make and CMake.
4. `examples/microros_pub: Add minimal Int32 publisher example. `30
`std_msgs/Int32` messages on `/nuttx_pub` at 1 Hz, then clean fini. Smoke test
for the transport layer.
## Impact
- Fixes a pre-existing sim final-link regression in `system/microros`
(#3498); any non-trivial micro-ROS sim build was broken before this.
- New Kconfig: `MICROROS_TRANSPORT_{UDP,SERIAL}`, `MICROROS_AGENT_IP`,
`MICROROS_AGENT_PORT`, `MICROROS_SERIAL_DEVICE`, `MICROROS_SERIAL_BAUD`.
Default off — no change for existing configs.
- UDP backend needs `CONFIG_NET_UDP`; serial backend needs a TTY.
## Testing
Ubuntu 22.04 EC2, `sim:nsh` + `CONFIG_SYSTEM_MICROROS=y` +
`MICROROS_TRANSPORT_UDP=y` + `EXAMPLES_MICROROS_PUB=y`. TAP networking, host
`192.168.10.1`, NuttX `192.168.10.2`. Agent `micro-ros/micro-ros agent:jazzy`
in docker `--network host`, UDP4 port 8888.
[phase4.log](https://github.com/user-attachments/files/28425846/phase4.log)
[phase4_agent.log](https://github.com/user-attachments/files/28425859/phase4_agent.log)
[phase4_bootstrap.log](https://github.com/user-attachments/files/28425860/phase4_bootstrap.log)
[phase4_make_context.log](https://github.com/user-attachments/files/28425865/phase4_make_context.log)
- `phase4.log` — NSH session, 30/30 publishes + `done`.
- `phase4_agent.log` — session establish, publisher create, 30 ACKs,
clean destroy.
- `phase4_bootstrap.log`, `phase4_make_context.log` — build.
Excerpt:
```
nsh> microros_pub
microros_pub: starting
microros_pub: sent 0
...
microros_pub: sent 29
microros_pub: done
```
**Not verified:** serial backend on hardware — I dont have the
hardware needed. checkpatch on the post-split range needs a re-run
on Linux before merge.
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