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examples/microros_sub: Add minimal Int32 subscriber example.

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Mirror of microros_pub for the receive direction.  Creates a node,
subscribes to /nuttx_sub with std_msgs/Int32, drives an rclc_executor
spin loop, and prints each received value.  Exercises the new
rclc_executor + subscription callback path on top of the
microros_transport library shipped in apps/system/microros.

Validates the NuttX-native transport in the agent->client direction
end-to-end against a micro-ROS agent + ros2 topic pub on the host.

Signed-off-by: Arjav Patel <arjav1528@gmail.com>
This commit is contained in:
Arjav Patel 2026-06-01 23:11:04 +05:30 • committed by Lup Yuen Lee
parent 97802bd9e0
commit c106a02b58
5 changed files with 254 additions and 0 deletions
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35
examples/microros_sub/CMakeLists.txt Normal file
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# ##############################################################################
# apps/examples/microros_sub/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_SUB)
nuttx_add_application(
NAME
${CONFIG_EXAMPLES_MICROROS_SUB_PROGNAME}
SRCS
microros_sub_main.c
STACKSIZE
${CONFIG_EXAMPLES_MICROROS_SUB_STACKSIZE}
PRIORITY
${CONFIG_EXAMPLES_MICROROS_SUB_PRIORITY}
DEPENDS
microros_transport)
endif()

31
examples/microros_sub/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_SUB
tristate "micro-ROS int32 subscriber example"
default n
depends on SYSTEM_MICROROS
---help---
Minimal micro-ROS subscriber that creates a node, subscribes to
the topic /nuttx_sub with std_msgs/Int32, and prints each
received value. Drives an rclc_executor spin loop and is used
together with microros_pub (or any external publisher) to
validate the NuttX-native transport in the receive direction.
if EXAMPLES_MICROROS_SUB
config EXAMPLES_MICROROS_SUB_PROGNAME
string "Program name"
default "microros_sub"
config EXAMPLES_MICROROS_SUB_PRIORITY
int "micro-ROS sub task priority"
default 100
config EXAMPLES_MICROROS_SUB_STACKSIZE
int "micro-ROS sub stack size"
default 8192
endif

25
examples/microros_sub/Make.defs Normal file
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############################################################################
# apps/examples/microros_sub/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_SUB),)
CONFIGURED_APPS += $(APPDIR)/examples/microros_sub
endif

32
examples/microros_sub/Makefile Normal file
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############################################################################
# apps/examples/microros_sub/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_SUB_PROGNAME)
PRIORITY = $(CONFIG_EXAMPLES_MICROROS_SUB_PRIORITY)
STACKSIZE = $(CONFIG_EXAMPLES_MICROROS_SUB_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_MICROROS_SUB)
MAINSRC = microros_sub_main.c
include $(APPDIR)/Application.mk

131
examples/microros_sub/microros_sub_main.c Normal file
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/****************************************************************************
* apps/examples/microros_sub/microros_sub_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>
/****************************************************************************
* Private Data
****************************************************************************/
static std_msgs__msg__Int32 g_rx_msg;
/****************************************************************************
* Private Functions
****************************************************************************/
static void sub_callback(const void *msgin)
{
const std_msgs__msg__Int32 *msg = (const std_msgs__msg__Int32 *)msgin;
printf("microros_sub: got %d\n", (int)msg->data);
}
/****************************************************************************
* Public Functions
****************************************************************************/
int main(int argc, FAR char *argv[])
{
rcl_subscription_t subscriber;
rcl_allocator_t allocator;
rclc_support_t support;
rcl_node_t node;
rclc_executor_t executor;
printf("microros_sub: starting\n");
if (microros_transport_init() != 0)
{
printf("microros_sub: transport init failed\n");
return 1;
}
allocator = rcl_get_default_allocator();
if (rclc_support_init(&support, 0, NULL, &allocator) != RCL_RET_OK)
{
printf("microros_sub: rclc_support_init failed\n");
return 1;
}
if (rclc_node_init_default(&node, "nuttx_sub_node", "", &support)
!= RCL_RET_OK)
{
printf("microros_sub: node init failed\n");
return 1;
}
if (rclc_subscription_init_default(
&subscriber,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"nuttx_sub") != RCL_RET_OK)
{
printf("microros_sub: subscription init failed\n");
return 1;
}
executor = rclc_executor_get_zero_initialized_executor();
if (rclc_executor_init(&executor, &support.context, 1, &allocator)
!= RCL_RET_OK)
{
printf("microros_sub: executor init failed\n");
return 1;
}
if (rclc_executor_add_subscription(&executor,
&subscriber,
&g_rx_msg,
&sub_callback,
ON_NEW_DATA) != RCL_RET_OK)
{
printf("microros_sub: add_subscription failed\n");
return 1;
}
printf("microros_sub: spinning on /nuttx_sub\n");
rclc_executor_spin(&executor);
rclc_executor_fini(&executor);
rcl_subscription_fini(&subscriber, &node);
rcl_node_fini(&node);
rclc_support_fini(&support);
printf("microros_sub: done\n");
return 0;
}