microROS依赖无法构建

unicorn

开发环境：Ubuntu24.04，板型STM32F407ZG，开发框架PlatformIO + Arduino

目的：在开发板上安装microROS以实现和树莓派之间的串口通信

问题：在platformio中增加lib_deps之后microROS依赖无法构建

详细：
期末课程设计选用了树莓派5，然后发现树莓派5上能装的Ubuntu就只有24.04，别的版本试了多少次了根本装不上去，只能接着做了，然后开发板买了块便宜的STM32F407ZG，上面只有串口能用，于是想用串口和树莓派通信
目前底盘和电机驱动板基本功能都完成了，树莓派和雷达也都正常，树莓派上的microAgent也按照小鱼的教程安装成功，但是到开发板这里安装microROS时出了问题，不管是用小鱼在gitee上的依赖包（lib_deps=https://gitee.com/ohhuo/micro_ros_platformio.git）
还是Github上的（lib_deps=https://github.com/micro-ROS/micro_ros_platformio.git）都不能成功构建依赖

gitee的报错代码如下

Processing black_f407zg (platform: ststm32; board: black_f407zg; framework: arduino)
--------------------------------------------------------------------------------------------------------------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/ststm32/black_f407zg.html
PLATFORM: ST STM32 (18.0.0) > Black STM32F407ZG
HARDWARE: STM32F407ZGT6 168MHz, 128KB RAM, 1MB Flash
DEBUG: Current (blackmagic) External (blackmagic, cmsis-dap, jlink, stlink)
PACKAGES:
 - framework-arduinoststm32 @ 4.20900.0 (2.9.0)
 - framework-cmsis @ 2.50900.0 (5.9.0)
 - toolchain-gccarmnoneeabi @ 1.120301.0 (12.3.1)
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Installing importlib-resources with pip at PlatformIO environment
C:\Users\16371\.platformio\penv\Scripts\python.exe -m pip install importlib-resources
Requirement already satisfied: importlib-resources in c:\users\16371\.platformio\penv\lib\site-packages (6.4.5)
Installing pyyaml with pip at PlatformIO environment
C:\Users\16371\.platformio\penv\Scripts\python.exe -m pip install pyyaml
Requirement already satisfied: pyyaml in c:\users\16371\.platformio\penv\lib\site-packages (6.0.2)
Installing markupsafe==2.0.1 with pip at PlatformIO environment
C:\Users\16371\.platformio\penv\Scripts\python.exe -m pip install markupsafe==2.0.1
Requirement already satisfied: markupsafe==2.0.1 in c:\users\16371\.platformio\penv\lib\site-packages (2.0.1)
Configuring black_f407zg with transport serial
micro-ROS already built
Found 15 compatible libraries
Scanning dependencies...
Dependency Graph
|-- micro_ros_platformio @ 0.0.1+sha.1ae444b
Building in release mode
Linking .pio\build\black_f407zg\firmware.elf
c:/users/16371/.platformio/packages/toolchain-gccarmnoneeabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/bin/ld.exe: skipping incompatible .pio/libdeps/black_f407zg/micro_ros_platformio/libmicroros\libmicroros.a when searching for -lmicroros
c:/users/16371/.platformio/packages/toolchain-gccarmnoneeabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/bin/ld.exe: cannot find -lmicroros: No such file or directory
collect2.exe: error: ld returned 1 exit status
*** [.pio\build\black_f407zg\firmware.elf] Error 1

更改为github后有以下输出

Resolving black_f407zg dependencies...
Removing unused dependencies...
Library Manager: Removing micro_ros_platformio @ 0.0.1+sha.1ae444b
Library Manager: micro_ros_platformio@0.0.1+sha.1ae444b has been removed!
Library Manager: Installing git+https://github.com/micro-ROS/micro_ros_platformio.git
git version 2.46.0.windows.1
Cloning into 'C:\Users\16371\.platformio\.cache\tmp\pkg-installing-nhn56hfd'...

Library Manager: micro_ros_platformio@0.0.1+sha.ed22dfe has been installed!
Updating metadata for the vscode IDE...
UserSideException: Processing black_f407zg (platform: ststm32; board: black_f407zg; framework: arduino)
--------------------------------------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/ststm32/black_f407zg.html
PLATFORM: ST STM32 (18.0.0) > Black STM32F407ZG
HARDWARE: STM32F407ZGT6 168MHz, 128KB RAM, 1MB Flash
DEBUG: Current (blackmagic) External (blackmagic, cmsis-dap, jlink, stlink)
PACKAGES: 
 - framework-arduinoststm32 @ 4.20900.0 (2.9.0) 
 - framework-cmsis @ 2.50900.0 (5.9.0) 
 - toolchain-gccarmnoneeabi @ 1.120301.0 (12.3.1)
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Installing importlib-resources with pip at PlatformIO environment
C:\Users\16371\.platformio\penv\Scripts\python.exe -m pip install importlib-resources
Requirement already satisfied: importlib-resources in c:\users\16371\.platformio\penv\lib\site-packages (6.4.5)
Installing pyyaml with pip at PlatformIO environment
C:\Users\16371\.platformio\penv\Scripts\python.exe -m pip install pyyaml
Requirement already satisfied: pyyaml in c:\users\16371\.platformio\penv\lib\site-packages (6.0.2)
Installing markupsafe==2.0.1 with pip at PlatformIO environment
C:\Users\16371\.platformio\penv\Scripts\python.exe -m pip install markupsafe==2.0.1
Requirement already satisfied: markupsafe==2.0.1 in c:\users\16371\.platformio\penv\lib\site-packages (2.0.1)
Installing empy==3.3.4 with pip at PlatformIO environment
C:\Users\16371\.platformio\penv\Scripts\python.exe -m pip install empy==3.3.4
Requirement already satisfied: empy==3.3.4 in c:\users\16371\.platformio\penv\lib\site-packages (3.3.4)
Configuring black_f407zg with transport serial
Downloading micro-ROS dev dependencies
	 - Downloaded ament_cmake
	 - Downloaded ament_lint
	 - Downloaded ament_package
	 - Downloaded googletest
	 - Downloaded ament_cmake_ros
	 - Downloaded ament_index
Building micro-ROS dev dependencies
UnicodeDecodeError: 'utf-8' codec can't decode byte 0xb2 in position 4: invalid start byte:
  File "C:\Users\16371\.platformio\penv\Lib\site-packages\platformio\builder\main.py", line 173:
    env.SConscript("$BUILD_SCRIPT")
  File "C:\Users\16371\.platformio\packages\tool-scons\scons-local-4.8.1\SCons\Script\SConscript.py", line 620:
    return _SConscript(self.fs, *files, **subst_kw)
  File "C:\Users\16371\.platformio\packages\tool-scons\scons-local-4.8.1\SCons\Script\SConscript.py", line 280:
    exec(compile(scriptdata, scriptname, 'exec'), call_stack[-1].globals)
  File "C:\Users\16371\.platformio\platforms\ststm32\builder\main.py", line 120:
    target_elf = env.BuildProgram()
  File "C:\Users\16371\.platformio\packages\tool-scons\scons-local-4.8.1\SCons\Util\envs.py", line 252:
    return self.method(*nargs, **kwargs)
  File "C:\Users\16371\.platformio\penv\Lib\site-packages\platformio\builder\tools\piobuild.py", line 62:
    env.ProcessProjectDeps()
  File "C:\Users\16371\.platformio\packages\tool-scons\scons-local-4.8.1\SCons\Util\envs.py", line 252:
    return self.method(*nargs, **kwargs)
  File "C:\Users\16371\.platformio\penv\Lib\site-packages\platformio\builder\tools\piobuild.py", line 152:
    plb = env.ConfigureProjectLibBuilder()
  File "C:\Users\16371\.platformio\packages\tool-scons\scons-local-4.8.1\SCons\Util\envs.py", line 252:
    return self.method(*nargs, **kwargs)
  File "C:\Users\16371\.platformio\penv\Lib\site-packages\platformio\builder\tools\piolib.py", line 1202:
    project.install_dependencies()
  File "C:\Users\16371\.platformio\penv\Lib\site-packages\platformio\builder\tools\piolib.py", line 987:
    if _is_builtin(spec):
  File "C:\Users\16371\.platformio\penv\Lib\site-packages\platformio\builder\tools\piolib.py", line 979:
    for lb in self.env.GetLibBuilders():
  File "C:\Users\16371\.platformio\packages\tool-scons\scons-local-4.8.1\SCons\Util\envs.py", line 252:
    return self.method(*nargs, **kwargs)
  File "C:\Users\16371\.platformio\penv\Lib\site-packages\platformio\builder\tools\piolib.py", line 1115:
    lb = LibBuilderFactory.new(env, lib_dir)
  File "C:\Users\16371\.platformio\penv\Lib\site-packages\platformio\builder\tools\piolib.py", line 60:
    obj = globals()[clsname](env, path, verbose=verbose)
  File "C:\Users\16371\.platformio\penv\Lib\site-packages\platformio\builder\tools\piolib.py", line 153:
    self.process_extra_options()
  File "C:\Users\16371\.platformio\penv\Lib\site-packages\platformio\builder\tools\piolib.py", line 301:
    self.env.SConscript(
  File "C:\Users\16371\.platformio\packages\tool-scons\scons-local-4.8.1\SCons\Script\SConscript.py", line 620:
    return _SConscript(self.fs, *files, **subst_kw)
  File "C:\Users\16371\.platformio\packages\tool-scons\scons-local-4.8.1\SCons\Script\SConscript.py", line 280:
    exec(compile(scriptdata, scriptname, 'exec'), call_stack[-1].globals)
  File "D:\Documents\PlatformIO\Projects\robot_motion_control\.pio\libdeps\black_f407zg\micro_ros_platformio\extra_script.py", line 171:
    build_microros()
  File "D:\Documents\PlatformIO\Projects\robot_motion_control\.pio\libdeps\black_f407zg\micro_ros_platformio\extra_script.py", line 113:
    builder.run('{}/metas/{}'.format(main_path, selected_board_meta), cmake_toolchain.path, microros_user_meta)
  File "D:\Documents\PlatformIO\Projects\robot_motion_control\.pio\libdeps\black_f407zg\micro_ros_platformio\microros_utils\library_builder.py", line 64:
    self.build_dev_environment()
  File "D:\Documents\PlatformIO\Projects\robot_motion_control\.pio\libdeps\black_f407zg\micro_ros_platformio\microros_utils\library_builder.py", line 103:
    print("Build dev micro-ROS environment failed: \n {}".format(result.stderr.decode("utf-8")))

求解

机器人小伊

您遇到的问题主要涉及到在PlatformIO环境下配置和构建microROS库时的兼容性和依赖问题。从您提供的错误信息来看，有几个关键点需要注意和解决：

库不兼容问题：
- 错误信息中提到 .pio/libdeps/black_f407zg/micro_ros_platformio/libmicroros\libmicroros.a 文件不兼容。这通常意味着预编译的库文件与您的目标硬件或编译器不兼容。
UnicodeDecodeError：
- 这个错误通常发生在尝试用错误的编码方式解码字节流时。在您的案例中，可能是在处理microROS的某些构建脚本或输出时遇到了非UTF-8编码的字符。
解决步骤：
- 确保库版本和硬件兼容：检查micro_ros_platformio库是否支持STM32F407ZG。有时库的某些版本可能只支持特定的硬件或编译器版本。
- 尝试手动构建microROS：由于预编译库可能不兼容，您可以尝试从源代码手动构建microROS。这通常涉及到克隆microROS的仓库，并根据硬件和编译器配置进行构建。
- 更新PlatformIO和工具链：确保您的PlatformIO和所有相关工具链都是最新的，以支持最新的硬件和库。
- 修改编码处理：对于UnicodeDecodeError，您可以尝试修改相关的脚本，确保在处理输出时使用正确的编码（如果可能，尝试使用系统默认编码或显式指定为utf-8）。
- 查看日志和文档：仔细查看PlatformIO和microROS的文档，以及构建过程中的详细日志，以获取更多关于错误的信息。
- 社区和论坛：访问PlatformIO和microROS的社区论坛，看看是否有其他用户遇到并解决了类似的问题。
替代方案：
- 如果上述方法都不可行，您可以考虑使用其他开发框架或工具链，如直接使用STM32CubeMX和Keil/IAR等IDE，这些工具可能提供更好的硬件支持和库兼容性。
树莓派与STM32的通信：
- 确保您的STM32开发板上的串口配置正确，并且树莓派上的串口通信程序也正确配置。您可以使用简单的串口通信测试程序来验证这一点。

希望这些建议能帮助您解决问题！如果问题仍然存在，您可能需要更详细地检查每个步骤，并可能需要更具体的错误信息来进一步诊断问题。

以上为生成回答，仅供参考～

unicorn

查看GitHub上microROS_platformio的readme文件发现它是支持olimex_e407的，这块板的芯片就是f407zg，所以芯片型号上应该没有问题