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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>
30 lines
764 B
Text
30 lines
764 B
Text
#
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# For a description of the syntax of this configuration file,
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# see the file kconfig-language.txt in the NuttX tools repository.
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#
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config EXAMPLES_MICROROS_PUB
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tristate "micro-ROS int32 publisher example"
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default n
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depends on SYSTEM_MICROROS
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---help---
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Minimal micro-ROS publisher that creates a node and publishes
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an std_msgs/Int32 every second on the topic /nuttx_pub. Used
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to validate the NuttX-native transport layer end-to-end with
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a micro-ROS agent.
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if EXAMPLES_MICROROS_PUB
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config EXAMPLES_MICROROS_PUB_PROGNAME
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string "Program name"
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default "microros_pub"
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config EXAMPLES_MICROROS_PUB_PRIORITY
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int "micro-ROS pub task priority"
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default 100
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config EXAMPLES_MICROROS_PUB_STACKSIZE
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int "micro-ROS pub stack size"
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default 8192
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endif
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