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commit 1081225509857d4e265b28b242d59d314399380e Author: Arjav Patel <[email protected]> AuthorDate: Sun May 31 10:11:34 2026 +0530 examples/microros_pub: Add minimal Int32 publisher example. End-to-end exercise of the micro-ROS stack on NuttX: calls microros_transport_init() to register the configured backend, brings up rclc_support / node / publisher, publishes 30 std_msgs/Int32 messages on /nuttx_pub at 1 Hz, then tears the stack down cleanly. The example's Make.defs adds $(APPDIR)/system/microros/transport to its own CFLAGS rather than the system/microros Make.defs, so the transport-glue header path is not pushed into the global search path for unrelated apps. Serves as the smoke test for the transport layer and as a template for downstream publisher apps. Signed-off-by: Arjav Patel <[email protected]> --- examples/microros_pub/CMakeLists.txt | 35 ++++++++++ examples/microros_pub/Kconfig | 30 ++++++++ examples/microros_pub/Make.defs | 25 +++++++ examples/microros_pub/Makefile | 32 +++++++++ examples/microros_pub/microros_pub_main.c | 109 ++++++++++++++++++++++++++++++ 5 files changed, 231 insertions(+) diff --git a/examples/microros_pub/CMakeLists.txt b/examples/microros_pub/CMakeLists.txt new file mode 100644 index 000000000..8bf83218e --- /dev/null +++ b/examples/microros_pub/CMakeLists.txt @@ -0,0 +1,35 @@ +# ############################################################################## +# apps/examples/microros_pub/CMakeLists.txt +# +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed to the Apache Software Foundation (ASF) under one or more contributor +# license agreements. See the NOTICE file distributed with this work for +# additional information regarding copyright ownership. The ASF licenses this +# file to you under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. +# +# ############################################################################## + +if(CONFIG_EXAMPLES_MICROROS_PUB) + nuttx_add_application( + NAME + ${CONFIG_EXAMPLES_MICROROS_PUB_PROGNAME} + SRCS + microros_pub_main.c + STACKSIZE + ${CONFIG_EXAMPLES_MICROROS_PUB_STACKSIZE} + PRIORITY + ${CONFIG_EXAMPLES_MICROROS_PUB_PRIORITY} + DEPENDS + microros_transport) +endif() diff --git a/examples/microros_pub/Kconfig b/examples/microros_pub/Kconfig new file mode 100644 index 000000000..a1d75478d --- /dev/null +++ b/examples/microros_pub/Kconfig @@ -0,0 +1,30 @@ +# +# For a description of the syntax of this configuration file, +# see the file kconfig-language.txt in the NuttX tools repository. +# + +config EXAMPLES_MICROROS_PUB + tristate "micro-ROS int32 publisher example" + default n + depends on SYSTEM_MICROROS + ---help--- + Minimal micro-ROS publisher that creates a node and publishes + an std_msgs/Int32 every second on the topic /nuttx_pub. Used + to validate the NuttX-native transport layer end-to-end with + a micro-ROS agent. + +if EXAMPLES_MICROROS_PUB + +config EXAMPLES_MICROROS_PUB_PROGNAME + string "Program name" + default "microros_pub" + +config EXAMPLES_MICROROS_PUB_PRIORITY + int "micro-ROS pub task priority" + default 100 + +config EXAMPLES_MICROROS_PUB_STACKSIZE + int "micro-ROS pub stack size" + default 8192 + +endif diff --git a/examples/microros_pub/Make.defs b/examples/microros_pub/Make.defs new file mode 100644 index 000000000..16128b96e --- /dev/null +++ b/examples/microros_pub/Make.defs @@ -0,0 +1,25 @@ +############################################################################ +# apps/examples/microros_pub/Make.defs +# +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed to the Apache Software Foundation (ASF) under one or more +# contributor license agreements. See the NOTICE file distributed with +# this work for additional information regarding copyright ownership. The +# ASF licenses this file to you under the Apache License, Version 2.0 (the +# "License"); you may not use this file except in compliance with the +# License. You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations +# under the License. +# +############################################################################ + +ifneq ($(CONFIG_EXAMPLES_MICROROS_PUB),) +CONFIGURED_APPS += $(APPDIR)/examples/microros_pub +endif diff --git a/examples/microros_pub/Makefile b/examples/microros_pub/Makefile new file mode 100644 index 000000000..1377e68b5 --- /dev/null +++ b/examples/microros_pub/Makefile @@ -0,0 +1,32 @@ +############################################################################ +# apps/examples/microros_pub/Makefile +# +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed to the Apache Software Foundation (ASF) under one or more +# contributor license agreements. See the NOTICE file distributed with +# this work for additional information regarding copyright ownership. The +# ASF licenses this file to you under the Apache License, Version 2.0 (the +# "License"); you may not use this file except in compliance with the +# License. You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations +# under the License. +# +############################################################################ + +include $(APPDIR)/Make.defs + +PROGNAME = $(CONFIG_EXAMPLES_MICROROS_PUB_PROGNAME) +PRIORITY = $(CONFIG_EXAMPLES_MICROROS_PUB_PRIORITY) +STACKSIZE = $(CONFIG_EXAMPLES_MICROROS_PUB_STACKSIZE) +MODULE = $(CONFIG_EXAMPLES_MICROROS_PUB) + +MAINSRC = microros_pub_main.c + +include $(APPDIR)/Application.mk diff --git a/examples/microros_pub/microros_pub_main.c b/examples/microros_pub/microros_pub_main.c new file mode 100644 index 000000000..d9211c36b --- /dev/null +++ b/examples/microros_pub/microros_pub_main.c @@ -0,0 +1,109 @@ +/**************************************************************************** + * apps/examples/microros_pub/microros_pub_main.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <stdio.h> +#include <unistd.h> + +#include <rcl/rcl.h> +#include <rcl/error_handling.h> +#include <rclc/rclc.h> +#include <rclc/executor.h> +#include <std_msgs/msg/int32.h> + +#include <system/microros_transport.h> + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int main(int argc, FAR char *argv[]) +{ + rcl_publisher_t publisher; + std_msgs__msg__Int32 msg; + rcl_allocator_t allocator; + rclc_support_t support; + rcl_node_t node; + int i; + + printf("microros_pub: starting\n"); + + if (microros_transport_init() != 0) + { + printf("microros_pub: transport init failed\n"); + return 1; + } + + allocator = rcl_get_default_allocator(); + + if (rclc_support_init(&support, 0, NULL, &allocator) != RCL_RET_OK) + { + printf("microros_pub: rclc_support_init failed\n"); + return 1; + } + + if (rclc_node_init_default(&node, "nuttx_node", "", &support) + != RCL_RET_OK) + { + printf("microros_pub: node init failed\n"); + return 1; + } + + if (rclc_publisher_init_default( + &publisher, + &node, + ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), + "nuttx_pub") != RCL_RET_OK) + { + printf("microros_pub: publisher init failed\n"); + return 1; + } + + msg.data = 0; + + for (i = 0; i < 30; i++) + { + if (rcl_publish(&publisher, &msg, NULL) == RCL_RET_OK) + { + printf("microros_pub: sent %d\n", (int)msg.data); + } + else + { + printf("microros_pub: publish failed\n"); + } + + msg.data++; + sleep(1); + } + + rcl_publisher_fini(&publisher, &node); + rcl_node_fini(&node); + rclc_support_fini(&support); + + printf("microros_pub: done\n"); + return 0; +}
