From 6f4df779dfb8254a9f6cab0c074f952235a95a1f Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Tue, 24 Nov 2020 12:25:29 +0100 Subject: [PATCH 01/29] Initial --- _data/docs.yml | 6 +- .../external_build_systems/index.md | 24 +++++ _docs/concepts/build_system/index.md | 88 +++++++++++++++++++ .../rtos/integration_with_colcon/index.md | 8 -- _includes/docs_nav.html | 3 + 5 files changed, 120 insertions(+), 9 deletions(-) create mode 100644 _docs/concepts/build_system/external_build_systems/index.md create mode 100644 _docs/concepts/build_system/index.md delete mode 100644 _docs/concepts/rtos/integration_with_colcon/index.md diff --git a/_data/docs.yml b/_data/docs.yml index 3a01bfc6..fac683d5 100644 --- a/_data/docs.yml +++ b/_data/docs.yml @@ -31,7 +31,11 @@ - concepts/rtos/NuttX - concepts/rtos/Zephyr - concepts/rtos/comparison - - concepts/rtos/integration_with_colcon + +- title: Build System + docs: + - concepts/build_system + - concepts/build_system/external_build_systems - title: Benchmarking docs: diff --git a/_docs/concepts/build_system/external_build_systems/index.md b/_docs/concepts/build_system/external_build_systems/index.md new file mode 100644 index 00000000..2fb5f204 --- /dev/null +++ b/_docs/concepts/build_system/external_build_systems/index.md @@ -0,0 +1,24 @@ +--- +title: External Build Systems +permalink: /docs/concepts/build_system/external_build_systems/ +--- + +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. + +## micro-ROS component for ESP-IDF + +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. + +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). + +## micro-ROS module for Zephyr + +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. + +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). + +## micro-ROS for Arduino + +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. + +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. \ No newline at end of file diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md new file mode 100644 index 00000000..95f5155a --- /dev/null +++ b/_docs/concepts/build_system/index.md @@ -0,0 +1,88 @@ +--- +title: micro-ROS Build System +permalink: /docs/concepts/build_system/ +--- + +micro-ROS provides two ways of building a micro-ROS application for embedded platforms: +- using the **micro_ros_setup** as a tool integrated in a ROS 2 workspace +- using external integrations tools. Click [here](/docs/concepts/build_system/external_build_systems/) for more details about this option. + +**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. + +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/). + +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`: + +```bash +# Source the ROS 2 installation +source /opt/ros/$ROS_DISTRO/setup.bash + +# Create a workspace and download the micro-ROS tools +mkdir microros_ws +cd microros_ws +git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup + +# Update dependencies using rosdep +sudo apt update && rosdep update +rosdep install --from-path src --ignore-src -y + +# Install pip +sudo apt-get install python3-pip + +# Build micro-ROS tools and source them +colcon build +source install/local_setup.bash +``` + +### micro-ROS client + +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: + +```bash +# Create step +ros2 run micro_ros_setup create_firmware_ws.sh [RTOS] [HARDWARE BOARD] +``` + +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: +- 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. +- 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. +- 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. + +Once the build system has create the new firmware project, it is possible to configure it using: + +```bash +# Configure step +ros2 run micro_ros_setup configure_firmware.sh [APP] [OPTIONS] +``` + +Running this command without any argument it will output a list of example application valid for the selected RTOS. +Common options available at this configuration step are: + - `--transport` or `-t`: `udp`, `serial` or any hardware specific transport label + - `--dev` or `-d`: agent string descriptor in a serial-like transport + - `--ip` or `-i`: agent IP in a network-like transport + - `--port` or `-p`: agent port in a network-like transport + + +Finally, it is possible to build and flash a micro-ROS app using: + +```bash +# Build step +ros2 run micro_ros_setup build_firmware.sh + +# Flash step +ros2 run micro_ros_setup flash_firmware.sh +``` + +### micro-ROS agent + +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: + +```bash +# Download micro-ROS-Agent packages +ros2 run micro_ros_setup create_agent_ws.sh +ros2 run micro_ros_setup build_agent.sh +source install/local_setup.bash +ros2 run micro_ros_agent micro_ros_agent [OPTIONS] +``` + +***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]`* diff --git a/_docs/concepts/rtos/integration_with_colcon/index.md b/_docs/concepts/rtos/integration_with_colcon/index.md deleted file mode 100644 index e1cf7d76..00000000 --- a/_docs/concepts/rtos/integration_with_colcon/index.md +++ /dev/null @@ -1,8 +0,0 @@ ---- -title: Integration with colcon -permalink: /docs/concepts/rtos/integration_with_colcon/ ---- - -In order to streamline the use of different RTOSes with micro-ROS, we integrated the build systems of [FreeRTOS](../FreeRTOS/), [NuttX](../NuttX/), and [Zephyr](../Zephyr/) with the ROS 2 meta-build tool [colcon](https://colcon.readthedocs.io/) using [cmake](https://cmake.org/). - -To learn more, please see [https://github.com/micro-ROS/micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup). \ No newline at end of file diff --git a/_includes/docs_nav.html b/_includes/docs_nav.html index f4821b47..24b8d5e1 100644 --- a/_includes/docs_nav.html +++ b/_includes/docs_nav.html @@ -13,6 +13,9 @@ {% if page.path contains "_docs/concepts" and section.title == "RTOS" %} {% assign should_show_this_menu = true %} {% endif %} + {% if page.path contains "_docs/concepts" and section.title == "Build System" %} + {% assign should_show_this_menu = true %} + {% endif %} {% if page.path contains "_docs/concepts" and section.title == "Benchmarking" %} {% assign should_show_this_menu = true %} {% endif %} From b43e6d2b6bf09e3f26261bba6f42b1b06c15650a Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:16:20 +0100 Subject: [PATCH 02/29] Update _docs/concepts/build_system/index.md Co-authored-by: Jose Antonio Moral --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index 95f5155a..f62da304 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -43,7 +43,7 @@ Once it is installed the build system tool has some utilities that can be used i ros2 run micro_ros_setup create_firmware_ws.sh [RTOS] [HARDWARE BOARD] ``` -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: +It is possible to obtain a list of the supported hardware by running the command without any argument. By doing so, it is possible to see that along with the RTOSes and hardware supported by micro-ROS this build system also provides with three extra options: - 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. - 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. - 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. From 0cb0a998ccb0fa191379edf16b8252053417cf66 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:16:32 +0100 Subject: [PATCH 03/29] Update _docs/concepts/build_system/index.md Co-authored-by: Jose Antonio Moral --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index f62da304..c6d7b408 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -48,7 +48,7 @@ It is possible to obtain a list of the supported hardware by running the command - 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. - 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. -Once the build system has create the new firmware project, it is possible to configure it using: +Once the build system has created the new firmware project, it is possible to configure it using: ```bash # Configure step From d58d48fcee6fa0a8653e83e2aa46e3b6c0155a7a Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:16:39 +0100 Subject: [PATCH 04/29] Update _docs/concepts/build_system/index.md Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index c6d7b408..3924a88a 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -7,7 +7,7 @@ micro-ROS provides two ways of building a micro-ROS application for embedded pla - using the **micro_ros_setup** as a tool integrated in a ROS 2 workspace - using external integrations tools. Click [here](/docs/concepts/build_system/external_build_systems/) for more details about this option. -**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. +**micro_ros_setup** provides a 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 the [micro-ROS/micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup) repository in GitHub. 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/). From 49972dc9241f38ab3fcd3795495406f881af62cf Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:16:47 +0100 Subject: [PATCH 05/29] Update _docs/concepts/build_system/index.md Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index 3924a88a..067b1f11 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -9,7 +9,7 @@ micro-ROS provides two ways of building a micro-ROS application for embedded pla **micro_ros_setup** provides a 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 the [micro-ROS/micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup) repository in GitHub. -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/). +The **micro_ros_setup** tool is in charge of generating micro-ROS images that contain micro-ROS apps for the [supported hardware](/docs/overview/hardware/) boards and [RTOSes](/docs/concepts/rtos/). 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`: From 1de83defc58d835950d42137f4cee4a9cf9e9e06 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:16:55 +0100 Subject: [PATCH 06/29] Update _docs/concepts/build_system/index.md Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index 067b1f11..077b75ef 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -36,7 +36,7 @@ source install/local_setup.bash ### micro-ROS client -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: +Once installed, the build system tool provides some utilities that can be used in order to prepare, build, flash and use a micro-ROS application. The micro-ROS build 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: ```bash # Create step From 58ad5144a01fe2ac468cee2d18e4534ba5e933b1 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:17:02 +0100 Subject: [PATCH 07/29] Update _docs/concepts/build_system/index.md Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index 077b75ef..34e9c7f9 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -4,7 +4,7 @@ permalink: /docs/concepts/build_system/ --- micro-ROS provides two ways of building a micro-ROS application for embedded platforms: -- using the **micro_ros_setup** as a tool integrated in a ROS 2 workspace +- using the **micro_ros_setup** as a tool integrated in a ROS 2 workspace. - using external integrations tools. Click [here](/docs/concepts/build_system/external_build_systems/) for more details about this option. **micro_ros_setup** provides a 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 the [micro-ROS/micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup) repository in GitHub. From 90235ab73d33048dfe863bd732068b9a7cb65518 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:17:13 +0100 Subject: [PATCH 08/29] Update _docs/concepts/build_system/index.md Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index 34e9c7f9..af57e51a 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -11,7 +11,7 @@ micro-ROS provides two ways of building a micro-ROS application for embedded pla The **micro_ros_setup** tool is in charge of generating micro-ROS images that contain micro-ROS apps for the [supported hardware](/docs/overview/hardware/) boards and [RTOSes](/docs/concepts/rtos/). -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`: +As the **micro_ros_setup** package can be installed like 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 it with `colcon`: ```bash # Source the ROS 2 installation From 0c8e9f013791cfc977ae066694d9a17590e4bff8 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:17:20 +0100 Subject: [PATCH 09/29] Update _docs/concepts/build_system/index.md Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index af57e51a..dc8f43c2 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -85,4 +85,4 @@ source install/local_setup.bash ros2 run micro_ros_agent micro_ros_agent [OPTIONS] ``` -***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]`* +***TIP:** Remember that the 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]`* From c7dcf11ca5d64cb2aac7286d67967d2a5eb027ee Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:17:29 +0100 Subject: [PATCH 10/29] Update _docs/concepts/build_system/external_build_systems/index.md Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> --- _docs/concepts/build_system/external_build_systems/index.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/_docs/concepts/build_system/external_build_systems/index.md b/_docs/concepts/build_system/external_build_systems/index.md index 2fb5f204..c0fd50d1 100644 --- a/_docs/concepts/build_system/external_build_systems/index.md +++ b/_docs/concepts/build_system/external_build_systems/index.md @@ -9,7 +9,7 @@ Once you have read about the oficial[ **micro_ros_setup** tool](/docs/concepts/b 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. -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). +Configuration of the micro-ROS library is based on the `colcon.meta` file. For more details visit the [Github repository](https://github.com/micro-ROS/micro_ros_espidf_component). ## micro-ROS module for Zephyr @@ -21,4 +21,4 @@ The procedure for configuring the built micro-ROS library is based in `colcon.me 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. -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. \ No newline at end of file +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. From cfef1d72c749766a0ad330101600ad29d6aba79f Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:17:35 +0100 Subject: [PATCH 11/29] Update _docs/concepts/build_system/external_build_systems/index.md Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> --- _docs/concepts/build_system/external_build_systems/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/external_build_systems/index.md b/_docs/concepts/build_system/external_build_systems/index.md index c0fd50d1..f3f28333 100644 --- a/_docs/concepts/build_system/external_build_systems/index.md +++ b/_docs/concepts/build_system/external_build_systems/index.md @@ -19,6 +19,6 @@ The procedure for configuring the built micro-ROS library is based in `colcon.me ## micro-ROS for Arduino -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. +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 for this approach is that Arduino does not allow the build of a complex library such as micro-ROS, so by using this approach a ready-to-use solution is provided to the Arduino users. 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. From 5602bab23ab40da47deb3aeb044a1cec9116cf8d Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:18:57 +0100 Subject: [PATCH 12/29] Update _docs/concepts/build_system/index.md Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index dc8f43c2..1b41ab90 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -45,7 +45,7 @@ ros2 run micro_ros_setup create_firmware_ws.sh [RTOS] [HARDWARE BOARD] It is possible to obtain a list of the supported hardware by running the command without any argument. By doing so, it is possible to see that along with the RTOSes and hardware supported by micro-ROS this build system also provides with three extra options: - 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. -- 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. +- 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. These applications behave just like micro-ROS apps (using the same abstraction layers and middleware implementation) and allow the user to debug and test the applications on a PC. - 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. Once the build system has created the new firmware project, it is possible to configure it using: From db5e8bf44f200a9817e59850e24cf14fa397ff77 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:19:36 +0100 Subject: [PATCH 13/29] Update _docs/concepts/build_system/external_build_systems/index.md Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> --- _docs/concepts/build_system/external_build_systems/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/external_build_systems/index.md b/_docs/concepts/build_system/external_build_systems/index.md index f3f28333..8fd1607a 100644 --- a/_docs/concepts/build_system/external_build_systems/index.md +++ b/_docs/concepts/build_system/external_build_systems/index.md @@ -3,7 +3,7 @@ title: External Build Systems permalink: /docs/concepts/build_system/external_build_systems/ --- -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. +Once you have read about the official[ **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 into other build systems. ## micro-ROS component for ESP-IDF From 730a6470cc4bf5787e9fc3daa3c383d77f8987b9 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:20:10 +0100 Subject: [PATCH 14/29] Update _docs/concepts/build_system/index.md Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index 1b41ab90..d999f514 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -55,7 +55,7 @@ Once the build system has created the new firmware project, it is possible to co ros2 run micro_ros_setup configure_firmware.sh [APP] [OPTIONS] ``` -Running this command without any argument it will output a list of example application valid for the selected RTOS. +By running this command without any argument, it will output a list of example applications valid for the selected RTOS. Common options available at this configuration step are: - `--transport` or `-t`: `udp`, `serial` or any hardware specific transport label - `--dev` or `-d`: agent string descriptor in a serial-like transport From 78fe84df39ad9e72369e61983ffe5bf169f604e6 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:20:23 +0100 Subject: [PATCH 15/29] Update _docs/concepts/build_system/index.md Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com> --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index d999f514..a42d5327 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -75,7 +75,7 @@ ros2 run micro_ros_setup flash_firmware.sh ### micro-ROS agent -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: +The micro-ROS build system is also able to ease the compilation of the micro-ROS Agent in a ROS 2 workspace by using these commands: ```bash # Download micro-ROS-Agent packages From 682252034b67bccb1233498e2499b1336207dc2f Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:20:45 +0100 Subject: [PATCH 16/29] Update --- _docs/concepts/build_system/external_build_systems/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/external_build_systems/index.md b/_docs/concepts/build_system/external_build_systems/index.md index 8fd1607a..3a4ffb47 100644 --- a/_docs/concepts/build_system/external_build_systems/index.md +++ b/_docs/concepts/build_system/external_build_systems/index.md @@ -21,4 +21,4 @@ The procedure for configuring the built micro-ROS library is based in `colcon.me 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 for this approach is that Arduino does not allow the build of a complex library such as micro-ROS, so by using this approach a ready-to-use solution is provided to the Arduino users. -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. +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. From 4f8abc6fc5d2a17f8ad7bc0742113b25211b1015 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Thu, 26 Nov 2020 08:25:15 +0100 Subject: [PATCH 17/29] Updates --- _docs/concepts/rtos/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/rtos/index.md b/_docs/concepts/rtos/index.md index e69ee629..459d8818 100644 --- a/_docs/concepts/rtos/index.md +++ b/_docs/concepts/rtos/index.md @@ -21,4 +21,4 @@ By now, micro-ROS supports three RTOSes, which all come with (basic) POSIX imple * [NuttX](NuttX/) * [Zephyr](Zephyr/) -Most important, we [integrated these RTOSes with the ROS meta build system colcon](integration_with_colcon/). \ No newline at end of file +Most important, we [integrated these RTOSes with the micro-ROS build system](/docs/concepts/build_system/). \ No newline at end of file From dfc26e0cb52d9104d508ce307744efbad3e32f5a Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 27 Nov 2020 08:49:56 +0100 Subject: [PATCH 18/29] Update _docs/concepts/build_system/external_build_systems/index.md Co-authored-by: Ralph Lange --- _docs/concepts/build_system/external_build_systems/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/external_build_systems/index.md b/_docs/concepts/build_system/external_build_systems/index.md index 3a4ffb47..97684946 100644 --- a/_docs/concepts/build_system/external_build_systems/index.md +++ b/_docs/concepts/build_system/external_build_systems/index.md @@ -3,7 +3,7 @@ title: External Build Systems permalink: /docs/concepts/build_system/external_build_systems/ --- -Once you have read about the official[ **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 into other build systems. +Once you have read about the official [**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 into other build systems. ## micro-ROS component for ESP-IDF From a212b2038eb1582ef191d8d5fafa1b055dcbd709 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 27 Nov 2020 08:50:02 +0100 Subject: [PATCH 19/29] Update _docs/concepts/build_system/external_build_systems/index.md Co-authored-by: Ralph Lange --- _docs/concepts/build_system/external_build_systems/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/external_build_systems/index.md b/_docs/concepts/build_system/external_build_systems/index.md index 97684946..f6c90189 100644 --- a/_docs/concepts/build_system/external_build_systems/index.md +++ b/_docs/concepts/build_system/external_build_systems/index.md @@ -13,7 +13,7 @@ Configuration of the micro-ROS library is based on the `colcon.meta` file. For m ## micro-ROS module for Zephyr -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. +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-based project. In detail, it enables to integrate the micro-ROS API and utilities in an existing Zephyr project just by cloning or copying a folder. 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). From 947a8f1c4e24afe2efe23bf5cecb41ecffe00a3f Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 27 Nov 2020 08:50:12 +0100 Subject: [PATCH 20/29] Update _docs/concepts/build_system/external_build_systems/index.md Co-authored-by: Ralph Lange --- _docs/concepts/build_system/external_build_systems/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/external_build_systems/index.md b/_docs/concepts/build_system/external_build_systems/index.md index f6c90189..a5be3f73 100644 --- a/_docs/concepts/build_system/external_build_systems/index.md +++ b/_docs/concepts/build_system/external_build_systems/index.md @@ -9,7 +9,7 @@ Once you have read about the official [**micro_ros_setup** tool](/docs/concepts/ 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. -Configuration of the micro-ROS library is based on the `colcon.meta` file. For more details visit the [Github repository](https://github.com/micro-ROS/micro_ros_espidf_component). +Configuration of the micro-ROS library is based on the `colcon.meta` file. For more details visit the [Git repository](https://github.com/micro-ROS/micro_ros_espidf_component). ## micro-ROS module for Zephyr From 59fec50be22d0f1bc0a08184985ba2e2b0aaf8ea Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 27 Nov 2020 08:50:19 +0100 Subject: [PATCH 21/29] Update _docs/concepts/build_system/external_build_systems/index.md Co-authored-by: Ralph Lange --- _docs/concepts/build_system/external_build_systems/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/external_build_systems/index.md b/_docs/concepts/build_system/external_build_systems/index.md index a5be3f73..3e576676 100644 --- a/_docs/concepts/build_system/external_build_systems/index.md +++ b/_docs/concepts/build_system/external_build_systems/index.md @@ -15,7 +15,7 @@ Configuration of the micro-ROS library is based on the `colcon.meta` file. For m 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-based project. In detail, it enables to integrate the micro-ROS API and utilities in an existing Zephyr project just by cloning or copying a folder. -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). +The procedure for configuring the built micro-ROS library is based in `colcon.meta`. For more details visit the [Git repository](https://github.com/micro-ROS/micro_ros_espidf_component). ## micro-ROS for Arduino From 39feeb034f42aa6ebfbbe2a5eb21a127262f722c Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 27 Nov 2020 08:50:27 +0100 Subject: [PATCH 22/29] Update _docs/concepts/build_system/index.md Co-authored-by: Ralph Lange --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index a42d5327..329b49d7 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -5,7 +5,7 @@ permalink: /docs/concepts/build_system/ micro-ROS provides two ways of building a micro-ROS application for embedded platforms: - using the **micro_ros_setup** as a tool integrated in a ROS 2 workspace. -- using external integrations tools. Click [here](/docs/concepts/build_system/external_build_systems/) for more details about this option. +_RTOS-specific integrations:_ We have integrated micro-ROS with several RTOS build tools. Click [here](/docs/concepts/build_system/external_build_systems/) to learn more. **micro_ros_setup** provides a 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 the [micro-ROS/micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup) repository in GitHub. From ba045d0cc0a2bc0fd36cdaa30ccd510db5531145 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 27 Nov 2020 08:50:34 +0100 Subject: [PATCH 23/29] Update _docs/concepts/build_system/index.md Co-authored-by: Ralph Lange --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index 329b49d7..e5a5d98b 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -7,7 +7,7 @@ micro-ROS provides two ways of building a micro-ROS application for embedded pla - using the **micro_ros_setup** as a tool integrated in a ROS 2 workspace. _RTOS-specific integrations:_ We have integrated micro-ROS with several RTOS build tools. Click [here](/docs/concepts/build_system/external_build_systems/) to learn more. -**micro_ros_setup** provides a 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 the [micro-ROS/micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup) repository in GitHub. +**micro_ros_setup** provides a standalone build system in the form of a ROS 2 package for use in any normal ROS 2 workspace. This tool is available in the [micro-ROS/micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup) repository. The **micro_ros_setup** tool is in charge of generating micro-ROS images that contain micro-ROS apps for the [supported hardware](/docs/overview/hardware/) boards and [RTOSes](/docs/concepts/rtos/). From a225fced7845eb98ce3cb615cf4b879876e6233a Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 27 Nov 2020 08:50:42 +0100 Subject: [PATCH 24/29] Update _docs/concepts/build_system/index.md Co-authored-by: Ralph Lange --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index e5a5d98b..a37f7cae 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -9,7 +9,7 @@ _RTOS-specific integrations:_ We have integrated micro-ROS with several RTOS bui **micro_ros_setup** provides a standalone build system in the form of a ROS 2 package for use in any normal ROS 2 workspace. This tool is available in the [micro-ROS/micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup) repository. -The **micro_ros_setup** tool is in charge of generating micro-ROS images that contain micro-ROS apps for the [supported hardware](/docs/overview/hardware/) boards and [RTOSes](/docs/concepts/rtos/). +The **micro_ros_setup** tool allows compiling and generating images that contain micro-ROS apps for the [supported hardware](/docs/overview/hardware/) boards and [RTOSes](/docs/concepts/rtos/). As the **micro_ros_setup** package can be installed like 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 it with `colcon`: From a1597eae1fa85d6ddcb7914c31c158b80f4c6296 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 27 Nov 2020 08:50:50 +0100 Subject: [PATCH 25/29] Update _docs/concepts/build_system/index.md Co-authored-by: Ralph Lange --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index a37f7cae..52b86997 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -4,7 +4,7 @@ permalink: /docs/concepts/build_system/ --- micro-ROS provides two ways of building a micro-ROS application for embedded platforms: -- using the **micro_ros_setup** as a tool integrated in a ROS 2 workspace. +- _micro_ros_setup:_ integrates and hides the RTOS-specific build tools in few scripts provided as a ROS 2 package. _RTOS-specific integrations:_ We have integrated micro-ROS with several RTOS build tools. Click [here](/docs/concepts/build_system/external_build_systems/) to learn more. **micro_ros_setup** provides a standalone build system in the form of a ROS 2 package for use in any normal ROS 2 workspace. This tool is available in the [micro-ROS/micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup) repository. From f27ca4414ea80636eee2bc5af95b9f280af4c455 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 27 Nov 2020 09:10:08 +0100 Subject: [PATCH 26/29] Refer to tutorial section --- _docs/concepts/build_system/index.md | 23 +---------------------- 1 file changed, 1 insertion(+), 22 deletions(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index a42d5327..96b85ff2 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -11,28 +11,7 @@ micro-ROS provides two ways of building a micro-ROS application for embedded pla The **micro_ros_setup** tool is in charge of generating micro-ROS images that contain micro-ROS apps for the [supported hardware](/docs/overview/hardware/) boards and [RTOSes](/docs/concepts/rtos/). -As the **micro_ros_setup** package can be installed like 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 it with `colcon`: - -```bash -# Source the ROS 2 installation -source /opt/ros/$ROS_DISTRO/setup.bash - -# Create a workspace and download the micro-ROS tools -mkdir microros_ws -cd microros_ws -git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup - -# Update dependencies using rosdep -sudo apt update && rosdep update -rosdep install --from-path src --ignore-src -y - -# Install pip -sudo apt-get install python3-pip - -# Build micro-ROS tools and source them -colcon build -source install/local_setup.bash -``` +As the **micro_ros_setup** package can be installed like any other ROS 2 package, its usage will be through the ROS 2 CLI tool. Compiling, generating an image and flashing it on a board can be done just with four ROS 2 commands.A detailed description about the usage of this package can be found in the [tutorial section](/docs/tutorials/core/first_application_linux/). ### micro-ROS client From cd577783a576ff7ec87188e9fc24e0cb8ecf3ea5 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 27 Nov 2020 09:22:48 +0100 Subject: [PATCH 27/29] Update _docs/concepts/build_system/index.md Co-authored-by: Ralph Lange --- _docs/concepts/build_system/index.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index b836c612..f7080660 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -64,4 +64,6 @@ source install/local_setup.bash ros2 run micro_ros_agent micro_ros_agent [OPTIONS] ``` +**Tip 1:** To learn use of the micro_ros_setup build system hands-on, please see the [core tutorials](https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/). + ***TIP:** Remember that the 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]`* From 00ca5f5bbb4935d10032380eb38d4d67c015aaf4 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 27 Nov 2020 09:23:38 +0100 Subject: [PATCH 28/29] Update _docs/concepts/build_system/index.md Co-authored-by: Ralph Lange --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index f7080660..1d498982 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -11,7 +11,7 @@ _RTOS-specific integrations:_ We have integrated micro-ROS with several RTOS bui The **micro_ros_setup** tool allows compiling and generating images that contain micro-ROS apps for the [supported hardware](/docs/overview/hardware/) boards and [RTOSes](/docs/concepts/rtos/). -As the **micro_ros_setup** package can be installed like any other ROS 2 package, its usage will be through the ROS 2 CLI tool. Compiling, generating an image and flashing it on a board can be done just with four ROS 2 commands.A detailed description about the usage of this package can be found in the [tutorial section](/docs/tutorials/core/first_application_linux/). +As the **micro_ros_setup** package can be installed like any other ROS 2 package, its usage will be through the ROS 2 CLI tool. Compiling, generating an image and flashing it on a board can be done just with four ROS 2 commands. A detailed description about the usage of this package can be found in the [tutorial section](/docs/tutorials/core/first_application_rtos/). ### micro-ROS client From f934ef523e4bfb6c67925bfb5a50f4931b536dd0 Mon Sep 17 00:00:00 2001 From: Pablo Garrido Date: Fri, 27 Nov 2020 09:30:45 +0100 Subject: [PATCH 29/29] Update _docs/concepts/build_system/index.md Co-authored-by: Ralph Lange --- _docs/concepts/build_system/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md index 1d498982..5ef6fdba 100644 --- a/_docs/concepts/build_system/index.md +++ b/_docs/concepts/build_system/index.md @@ -66,4 +66,4 @@ ros2 run micro_ros_agent micro_ros_agent [OPTIONS] **Tip 1:** To learn use of the micro_ros_setup build system hands-on, please see the [core tutorials](https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/). -***TIP:** Remember that the 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]`* +**Tip 2 :** Remember that the 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]`