migrate to micro_ros_platformio

samuk · Jun 6, 2022 · e21cce4 · e21cce4
1 parent 64a5ed1
commit e21cce4
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Showing 2 changed files with 24 additions and 47 deletions.
diff --git a/firmware/platformio.ini b/firmware/platformio.ini
@@ -7,90 +7,66 @@
 ;
 ; Please visit documentation for the other options and examples
 ; https://docs.platformio.org/page/projectconf.html
-
 [env]
 platform = teensy
 framework = arduino
 upload_port = /dev/ttyACM0
 upload_protocol = teensy-cli
-lib_deps = 
-    https://github.com/micro-ROS/micro_ros_arduino
+board_microros_transport = serial
+board_microros_distro = ${sysenv.ROS_DISTRO}
+lib_deps = https://github.com/micro-ROS/micro_ros_platformio
+build_flags = -I ../config
 
 [env:teensy41] 
 board = teensy41
-build_flags = 
-    -L $PROJECT_DIR/.pio/libdeps/$PIOENV/micro_ros_arduino/src/imxrt1062/fpv5-d16-hard/
-    -l libmicroros
-    -I ../config
 
 [env:teensy40] 
 board = teensy40
-lib_ignore = NativeEthernet
-build_flags = 
-    -L $PROJECT_DIR/.pio/libdeps/$PIOENV/micro_ros_arduino/src/imxrt1062/fpv5-d16-hard/
-    -l libmicroros
-    -I ../config
 
 [env:teensy36]
 board = teensy36
-lib_ignore = NativeEthernet
 build_flags = 
-    -L $PROJECT_DIR/.pio/libdeps/$PIOENV/micro_ros_arduino/src/imxrt1062/fpv5-d16-hard/
-    -l libmicroros
     -I ../config
+    -llibc -lc
 
 [env:teensy35]
 board = teensy35
-lib_ignore = NativeEthernet
 build_flags = 
-    -L $PROJECT_DIR/.pio/libdeps/$PIOENV/micro_ros_arduino/src/mk64fx512/fpv4-sp-d16-hard/
-    -l libmicroros
     -I ../config
+    -llibc -lc
 
 [env:teensy31] 
 board = teensy31
 board_build.f_cpu = 96000000L
-lib_ignore = NativeEthernet
 build_flags = 
-    -L $PROJECT_DIR/.pio/libdeps/$PIOENV/micro_ros_arduino/src/mk20dx256
-    -l libmicroros
     -I ../config
+    -llibc -lc
 
 [env:dev] 
 board = teensy40
-lib_ignore = NativeEthernet
 build_flags = 
-    -L $PROJECT_DIR/.pio/libdeps/$PIOENV/micro_ros_arduino/src/imxrt1062/fpv5-d16-hard/
-    -l libmicroros
     -I ../config
     -D USE_DEV_CONFIG
 
 [env:beebo] 
 board = teensy31
 board_build.f_cpu = 96000000L
-lib_ignore = NativeEthernet
 build_flags = 
-    -L $PROJECT_DIR/.pio/libdeps/$PIOENV/micro_ros_arduino/src/mk20dx256
-    -l libmicroros
     -I ../config
+    -llibc -lc
     -D USE_BEEBO_CONFIG
 
 [env:beebo_m] 
 board = teensy31
 board_build.f_cpu = 96000000L
-lib_ignore = NativeEthernet
 build_flags = 
-    -L $PROJECT_DIR/.pio/libdeps/$PIOENV/micro_ros_arduino/src/mk20dx256
-    -l libmicroros
     -I ../config
+    -llibc -lc
     -D USE_BEEBO_M_CONFIG
 
 [env:square] 
 board = teensy40
-lib_ignore = NativeEthernet
 upload_port = /dev/linobase
 build_flags = 
-    -L $PROJECT_DIR/.pio/libdeps/$PIOENV/micro_ros_arduino/src/imxrt1062/fpv5-d16-hard/
-    -l libmicroros
     -I ../config
     -D USE_SQUARE_CONFIG
diff --git a/firmware/src/firmware.ino b/firmware/src/firmware.ino
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 #include <Arduino.h>
-#include <micro_ros_arduino.h>
+#include <micro_ros_platformio.h>
 #include <stdio.h>
 
 #include <rcl/rcl.h>
@@ -87,19 +87,20 @@ IMU imu;
 
 void setup() 
 {
-    pinMode(LED_PIN, OUTPUT);
-
-    bool imu_ok = imu.init();
-    if(!imu_ok)
-    {
-        while(1)
-        {
-            flashLED(3);
-        }
-    }
-
-    micro_ros_init_successful = false;
-    set_microros_transports();
+    // pinMode(LED_PIN, OUTPUT);
+
+    // bool imu_ok = imu.init();
+    // if(!imu_ok)
+    // {
+    //     while(1)
+    //     {
+    //         flashLED(3);
+    //     }
+    // }
+
+    // micro_ros_init_successful = false;
+    Serial.begin(115200);
+    set_microros_serial_transports(Serial);
 }
 
 void loop()