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‎_data/docs.yml‎

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- concepts/rtos/NuttX
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- concepts/rtos/Zephyr
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- concepts/rtos/comparison
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- concepts/rtos/integration_with_colcon
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- title: Build System
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docs:
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- concepts/build_system
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- concepts/build_system/external_build_systems
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- title: Benchmarking
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docs:

‎_docs/concepts/build_system/external_build_systems/index.md‎

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---
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title: External Build Systems
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permalink: /docs/concepts/build_system/external_build_systems/
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---
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Once you have read about the oficial[ **micro_ros_setup** tool](/docs/concepts/build_system/), this page will present some other approaches for building micro-ROS as a module or component integrated in other build systems.
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## micro-ROS component for ESP-IDF
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The [micro-ROS component for ESP-IDF](https://github.com/micro-ROS/micro_ros_espidf_component) allows to integrate micro-ROS as a component in an Espressif ESP-IDF Build System. This component allows the user to integrate the micro-ROS API and utilities in an already created ESP-IDF project just by cloning or copying a folder.
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The procedure for configuring the built micro-ROS library is based in `colcon.meta`. For more details visit the [Github repository](https://github.com/micro-ROS/micro_ros_espidf_component).
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## micro-ROS module for Zephyr
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The [micro-ROS module for Zephyr](https://github.com/micro-ROS/micro_ros_zephyr_module) allows to integrate micro-ROS as a module in a Zephyr RTOS project. This component allows the user to integrate the micro-ROS API and utilities in an already created Zephyr RTOS project just by cloning or copying a folder.
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The procedure for configuring the built micro-ROS library is based in `colcon.meta`. For more details visit the [Github repository](https://github.com/micro-ROS/micro_ros_espidf_component).
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## micro-ROS for Arduino
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The [micro-ROS for Arduino](https://github.com/micro-ROS/micro_ros_arduino) support package is a special port of micro-ROS provided as a set of precompiled libraries for specific platforms. The main reason of this approach is that Arduino does not allow the build of a complex library such as micro-ROS, so by using this solution a ready-to-use solution is provided to the Arduino users.
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Along with this support package there are [detailed instructions](https://github.com/micro-ROS/micro_ros_arduino#how-to-build-the-precompiled-library) for rebuilding the micro-ROS for Arduino libraries for users that need to tune the default configuration.

‎_docs/concepts/build_system/index.md‎

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---
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title: micro-ROS Build System
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permalink: /docs/concepts/build_system/
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---
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micro-ROS provides two ways of building a micro-ROS application for embedded platforms:
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- using the **micro_ros_setup** as a tool integrated in a ROS 2 workspace
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- using external integrations tools. Click [here](/docs/concepts/build_system/external_build_systems/) for more details about this option.
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**micro_ros_setup** provides an standalone build system in the form of a ROS 2 package that can be integrated in a common ROS 2 workspace. This tool is available in [micro-ROS/micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup) repository in GitHub.
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The micro_ros_setup tools is in charge of generating micro-ROS images that contains micro-ROS apps for the [supported hardware](/docs/overview/hardware/) boards and [RTOS](/docs/concepts/rtos/).
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As the micro_ros_setup package can be installed as any other ROS 2 package its usage will be through the ROS 2 CLI tool. For example in order to install the micro-ROS build system in a ROS 2 workspace just download it and build with `colcon`:
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```bash
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# Source the ROS 2 installation
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source /opt/ros/$ROS_DISTRO/setup.bash
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# Create a workspace and download the micro-ROS tools
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mkdir microros_ws
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cd microros_ws
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git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
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# Update dependencies using rosdep
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sudo apt update && rosdep update
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rosdep install --from-path src --ignore-src -y
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# Install pip
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sudo apt-get install python3-pip
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# Build micro-ROS tools and source them
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colcon build
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source install/local_setup.bash
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```
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### micro-ROS client
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Once it is installed the build system tool has some utilities that can be used in order to prepare, build, flash and use a micro-ROS application. The micro-ROS buils system is a four step procedure.In the first step, the user can create a new micro-ROS application by configuring the target hardware and RTOS:
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```bash
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# Create step
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ros2 run micro_ros_setup create_firmware_ws.sh [RTOS] [HARDWARE BOARD]
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```
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It is possible to obtain a list of the supported hardware by running the command without any argument. By soing so, it possible to see that along with the RTOSes and hardware supported by micro-ROS this build system also provides three extra options:
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- By using `zephyr` as RTOS and `host` as hardware name, it is possible to obtain a Zephyr RTOS image with your micro-ROS app that runs in your host computer.
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- By using just `host` as RTOS, micro-ROS will build a set of [micro-ROS demo applications](https://github.com/micro-ROS/micro-ROS-demos) natively in your host machine. This applications behaves just like a micro-ROS app (using the same layers and middleware) but allows the user to debug and test the applications.
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- By using `generate_lib` as RTOS it is possible to configure the build system for generating static libraries (`.a`) and a set of headers (`include`) that can be linked in any other external tool. This option requires a valid CMake toolchain.
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Once the build system has create the new firmware project, it is possible to configure it using:
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```bash
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# Configure step
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ros2 run micro_ros_setup configure_firmware.sh [APP] [OPTIONS]
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```
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Running this command without any argument it will output a list of example application valid for the selected RTOS.
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Common options available at this configuration step are:
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- `--transport` or `-t`: `udp`, `serial` or any hardware specific transport label
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- `--dev` or `-d`: agent string descriptor in a serial-like transport
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- `--ip` or `-i`: agent IP in a network-like transport
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- `--port` or `-p`: agent port in a network-like transport
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Finally, it is possible to build and flash a micro-ROS app using:
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```bash
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# Build step
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ros2 run micro_ros_setup build_firmware.sh
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# Flash step
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ros2 run micro_ros_setup flash_firmware.sh
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```
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### micro-ROS agent
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The micro-ROS build system is also able to ease the compilation of the micro-ROS Agent in a ROS 2 workspace using these commands:
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```bash
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# Download micro-ROS-Agent packages
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ros2 run micro_ros_setup create_agent_ws.sh
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ros2 run micro_ros_setup build_agent.sh
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source install/local_setup.bash
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ros2 run micro_ros_agent micro_ros_agent [OPTIONS]
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```
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***TIP:** Remember that micro-ROS Agent can be also be used with this simple Docker command: `docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy [OPTIONS]`*

‎_docs/concepts/rtos/integration_with_colcon/index.md‎

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‎_includes/docs_nav.html‎

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{% if page.path contains "_docs/concepts" and section.title == "RTOS" %}
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{% assign should_show_this_menu = true %}
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{% endif %}
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{% if page.path contains "_docs/concepts" and section.title == "Build System" %}
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{% assign should_show_this_menu = true %}
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{% endif %}
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{% if page.path contains "_docs/concepts" and section.title == "Benchmarking" %}
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{% assign should_show_this_menu = true %}
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{% endif %}

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