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1081225509
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>
35 lines
1.3 KiB
CMake
35 lines
1.3 KiB
CMake
# ##############################################################################
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# apps/examples/microros_pub/CMakeLists.txt
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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# Licensed to the Apache Software Foundation (ASF) under one or more contributor
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# license agreements. See the NOTICE file distributed with this work for
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# additional information regarding copyright ownership. The ASF licenses this
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# file to you under the Apache License, Version 2.0 (the "License"); you may not
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# use this file except in compliance with the License. You may obtain a copy of
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# the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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# License for the specific language governing permissions and limitations under
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# the License.
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#
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# ##############################################################################
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if(CONFIG_EXAMPLES_MICROROS_PUB)
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nuttx_add_application(
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NAME
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${CONFIG_EXAMPLES_MICROROS_PUB_PROGNAME}
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SRCS
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microros_pub_main.c
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STACKSIZE
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${CONFIG_EXAMPLES_MICROROS_PUB_STACKSIZE}
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PRIORITY
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${CONFIG_EXAMPLES_MICROROS_PUB_PRIORITY}
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DEPENDS
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microros_transport)
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endif()
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