Awesome
micro-ROS for STM32CubeMX/IDE
This tool aims to ease the micro-ROS integration in a STM32CubeMX/IDE project.
- micro-ROS for STM32CubeMX/IDE
Middlewares available
This package support the usage of micro-ROS on top of two different middlewares:
- eProsima Micro XRCE-DDS: the default micro-ROS middleware.
- embeddedRTPS: an experimental implementation of a RTPS middleware compatible with ROS 2. Instructions on how to use it available here.
Using this package with STM32CubeMX
-
Clone this repository in your STM32CubeMX project folder. A sample project can be generated with the provided
sample_project.ioc
. -
Make sure that your STM32CubeMX project is using a
Makefile
toolchain underProject Manager -> Project
-
Make sure that if you are using FreeRTOS, the micro-ROS task has more than 10 kB of stack: Detail
-
Configure the transport interface on the STM32CubeMX project, check the Transport configuration section for instructions on the custom transports provided.
-
Modify the generated
<!-- # Removing heap4 manager while being polite with STM32CubeMX TMPVAR := $(C_SOURCES) C_SOURCES := $(filter-out Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c, $(TMPVAR)) -->Makefile
to include the following code before thebuild the application
section:####################################### # micro-ROS addons ####################################### LDFLAGS += micro_ros_stm32cubemx_utils/microros_static_library/libmicroros/libmicroros.a C_INCLUDES += -Imicro_ros_stm32cubemx_utils/microros_static_library/libmicroros/microros_include # Add micro-ROS utils C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/custom_memory_manager.c C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_allocators.c C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_time.c # Set here the custom transport implementation C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_transports/dma_transport.c print_cflags: @echo $(CFLAGS)
-
Execute the static library generation tool. Compiler flags will retrieved automatically from your
Makefile
and user will be prompted to check if they are correct.docker pull microros/micro_ros_static_library_builder:rolling docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library microros/micro_ros_static_library_builder:rolling
-
Modify your
main.c
to use micro-ROS. An example application can be found insample_main.c
. -
Continue your usual workflow building your project and flashing the binary:
make -j$(nproc)
Using this package with STM32CubeIDE
micro-ROS can be used with SMT32CubeIDE following these steps:
-
Clone this repository in your STM32CubeIDE project folder
-
Go to
Project -> Settings -> C/C++ Build -> Settings -> Build Steps Tab
and inPre-build steps
add:docker pull microros/micro_ros_static_library_builder:rolling && docker run --rm -v ${workspace_loc:/${ProjName}}:/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library_ide microros/micro_ros_static_library_builder:rolling
-
Add micro-ROS include directory. In
Project -> Settings -> C/C++ Build -> Settings -> Tool Settings Tab -> MCU GCC Compiler -> Include paths
addmicro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include
-
Add the micro-ROS precompiled library. In
Project -> Settings -> C/C++ Build -> Settings -> MCU GCC Linker -> Libraries
- add
<ABSOLUTE_PATH_TO>/micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros
inLibrary search path (-L)
- add
microros
inLibraries (-l)
- add
-
Add the following source code files to your project, dragging them to source folder:
extra_sources/microros_time.c
extra_sources/microros_allocators.c
extra_sources/custom_memory_manager.c
extra_sources/microros_transports/dma_transport.c
or your transport selection.
-
Make sure that if you are using FreeRTOS, the micro-ROS task has more than 10 kB of stack: Detail
-
Configure the transport interface on the STM32CubeMX project, check the Transport configuration section for instructions on the custom transports provided.
-
Build and run your project
Windows 11 (Community Contributed)
micro-ROS can be used with SMT32CubeIDE in Windows 11 OS, following these steps:
- Install Docker Desktop and open it
- Clone this repository in your STM32CubeIDE project folder
- Open a terminal in the project folder and run:
docker pull microros/micro_ros_static_library_builder:humble docker run --rm -v <ABSOLUTE_PATH_TO_PROJECT>:/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library_ide microros/micro_ros_static_library_builder:humble
Follow steps 4 to 8. Noticed that thist steps where tested with ROS 2 Humble, but should work on any distribution. micro-ROS Agent could be build and run in Ubuntu using WSL.
Transport configuration
Available transport for this platform are:
U(S)ART with DMA
Steps to configure:
- Enable U(S)ART in your STM32CubeMX
- For the selected USART, enable DMA for Tx and Rx under
DMA Settings
- Set the DMA priotity to
Very High
for Tx and Rx - Set the DMA mode to
Circular
for Rx: Detail - For the selected, enable
global interrupt
underNVIC Settings
: Detail
U(S)ART with Interrupts
Steps to configure:
- Enable U(S)ART in your STM32CubeMX
- For the selected USART, enable
global interrupt
underNVIC Settings
: Detail
USB CDC
Steps to configure:
-
Enable the USB in your STM32CubeMX
Connectivity
tab. -
Select the
Communication Device Class (Virtual Port Com)
mode on theMiddleware -> USB_DEVICE
configuration.Note: The micro-ROS transport will override the autogenerated
USB_DEVICE/App/usbd_cdc_if.c
methods.
UDP
Steps to configure:
-
Enable Ethernet in your STM32CubeMX/IDE
Connectivity
tab. -
Enable LwIP in your STM32CubeMX/IDE
Middleware
tab. -
Make sure that LwIP has the following configuration:
Platform Setting according to your own board LwIP -> General Settings -> LWIP_DHCP -> Disabled LwIP -> General Settings -> IP Address Settings (Set here the board address and mask) LwIP -> General Settings -> LWIP UDP -> Enabled LwIP -> General Settings -> Procols Options -> MEMP_NUM_UDP_PCB -> 15 LwIP -> Key Options -> LWIP_SO_RCVTIMEO -> Enable
Note: Ensure your board and Agent are within the same LAN. The default port is 8888. You can modify it in udp_transport.c
.If you are using a board from the STM32H7 series, please set up the MPU correctly.
-
Use
sample_main_udp.c
as a reference for writing your application code. -
Start the micro-ROS Agent with the following arguments:
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v 6
Customizing the micro-ROS library
All the micro-ROS configuration can be done in colcon.meta
file before step 3. You can find detailed information about how to tune the static memory usage of the library in the Middleware Configuration tutorial.
Adding custom packages
Note that folders added to microros_static_library/library_generation/extra_packages/
and entries added to /microros_static_library/library_generation/extra_packages/extra_packages.repos
will be taken into account by this build system.
Purpose of the Project
This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.
License
This repository is open-sourced under the Apache-2.0 license. See the LICENSE file for details.
For a list of other open-source components included in this repository, see the file 3rd-party-licenses.txt.
Known Issues/Limitations
There are no known limitations.