Ran a test of the

[keshavchintamani]

Hi Guys,

Just wanted to report my experience trying to get these utils working for my STM32F407VETx board.

My tests are based on c408c27 here.

Before running the docker ros build, I've followed the steps as:

sourced /opt/ros/foxy/setup.bash
pulled latest on microros_setup, followed intrsructions to

• rosdep and colcon build microros_setup
• ros2 run micro_ros_setup create_agent_ws.sh
• ros2 run micro_ros_setup build_agent.sh [to build the xrce agent]

sourced the micro_ros_setup_workspace

then I followed these instructions and cd into microros_component and do the docker build.

But seems like some dependency is missing.

/uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c: In function 'rclc_make_node_a_lifecycle_node':
/uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c:42:3: error: unknown type name 'rcl_lifecycle_state_machine_options_t'; did you mean 'rcl_lifecycle_state_machine_t'?
   42 |   rcl_lifecycle_state_machine_options_t state_machine_options =
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |   rcl_lifecycle_state_machine_t
/uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c:43:5: warning: implicit declaration of function 'rcl_lifecycle_get_default_state_machine_options'; did you mean 'rcl_lifecycle_init_default_state_machine'? [-Wimplicit-function-declaration]
   43 |     rcl_lifecycle_get_default_state_machine_options();
      |     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |     rcl_lifecycle_init_default_state_machine

Summary: 50 packages finished [1min 44s]
  1 package failed: rclc_lifecycle
  7 packages aborted: diagnostic_msgs nav_msgs sensor_msgs shape_msgs tf2_msgs trajectory_msgs visualization_msgs
  37 packages had stderr output: action_msgs actionlib_msgs builtin_interfaces composition_interfaces diagnostic_msgs example_interfaces geometry_msgs libyaml_vendor lifecycle_msgs micro_ros_msgs microxrcedds_client nav_msgs rcl rcl_action rcl_interfaces rcl_lifecycle rcl_logging_noop rclc rclc_lifecycle rcutils rmw rmw_implementation rmw_microxrcedds rosgraph_msgs rosidl_runtime_c rosidl_typesupport_c rosidl_typesupport_microxrcedds_c sensor_msgs shape_msgs statistics_msgs std_msgs std_srvs test_msgs tf2_msgs trajectory_msgs unique_identifier_msgs visualization_msgs
  4 packages not processed

Any ideas?

[pablogs9]

Hello, @keshavchintamani we have had some issues with this package last week.
Can you retry the procedure and tell us if ros2/rclc#66 have solved this?
If not, I'll replicate your scenario to check what is happening.

Thanks!

[keshavchintamani]

@pablogs9 ros2/rclc#66 seems to have fixed this. We are able to sucessfully use microROS on the STM32F407VETX. The procedure offered in this repository is correct. We'll try to work on a PR to automate the transition from MakeFile project to STM32CubeIDE. Seems to be a large community of STM32 users how only use the STM32CubeIDE. Thanks again.

[pablogs9]

Thanks for reporting.

Regarding the IDE we provide some instructions here but it would be nice if someone contributes a more automated approach.

[pablogs9]

Hello @keshavchintamani check the new instructions added here for STM32CubeIDE automation.