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examples/microros_pub: Add minimal Int32 publisher example.

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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 <arjav1528@gmail.com>
This commit is contained in:
Arjav Patel 2026-05-31 10:11:34 +05:30 • committed by Xiang Xiao
parent 5e91459b1a
commit 1081225509
5 changed files with 231 additions and 0 deletions
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35
examples/microros_pub/CMakeLists.txt Normal file
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# ##############################################################################
# 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()

30
examples/microros_pub/Kconfig Normal file
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#
# 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

25
examples/microros_pub/Make.defs Normal file
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############################################################################
# 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

32
examples/microros_pub/Makefile Normal file
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############################################################################
# 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

109
examples/microros_pub/microros_pub_main.c Normal file
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/****************************************************************************
* 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;
}