When CONFIG_SYSTEM_MICROROS=y, add the prebuilt libmicroros.a to LDLIBS
and the colcon-installed include/ tree to CFLAGS/CXXFLAGS so that any
application in nuttx-apps can include micro-ROS headers and link against
the library without extra flags.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add toolchain.cmake.in and include_override/assert.h for the colcon
cross-build. Key differences from the old robertobucher port:
- Drop -DCLOCK_MONOTONIC=0: NuttX defines CLOCK_MONOTONIC=1 and
the override broke nanosleep() on newer kernels.
- CMAKE_SYSTEM_PROCESSOR is a placeholder substituted per-arch.
- include_override/assert.h works around the rosidl NDEBUG issue
(https://github.com/ros2/rosidl/pull/739).
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add a colcon.meta.in template that is substituted at build time with
Kconfig values. Key settings:
- Custom transport only (UCLIENT_PROFILE_CUSTOM_TRANSPORT=ON,
UCLIENT_PROFILE_STREAM_FRAMING=ON) -- actual UDP/serial callbacks
are wired in Phase 4.
- RCL_MICROROS=ON (Jazzy/Kilted renamed flag replacing the old
RCL_COMMAND_LINE_ENABLED/RCL_LOGGING_ENABLED pair).
- RCUTILS_NO_FILESYSTEM=OFF -- NuttX provides POSIX filesystem.
- Resource limits use @MAX_NODES@/@MAX_PUBLISHERS@ etc. placeholders
substituted from CONFIG_MICROROS_MAX_* Kconfig values.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add micro_ros_lib/ subdirectory with a .keep sentinel so the directory
is tracked by git before any generated build artifacts appear. All
colcon/fetch outputs land here and are gitignored by the parent .gitignore.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add CMakeLists.txt file for CMake build system integration.
Enables the micro-ROS library module to be built using NuttX CMake
build system alongside traditional Make-based builds.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add Makefile with standard NuttX build system integration. Follows
the MENUDESC + Directory.mk pattern used throughout nuttx-apps.
Enables the system/microros module to be built as part of the apps
directory build process.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add Make.defs with copyright header for the micro-ROS library
build system. This establishes the directory structure for Phase 2,
with actual build logic to follow in subsequent steps.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
