自动化编译microROS的github仓库

[ganyuanzhen]

做了自动化编译microROS的github仓库，有需要的可以自取。

目前是STM32F407VET6的静态库，适用于ROS2 iron版本。可在Release当中下载。

更换芯片之类的教程，待我之后来更新！

传送门：https://github.com/ganyuanzhen/microROSF407BinrayBuilder

[ganyuanzhen]

@ganyuanzhen 使用的CMake文件如下，可自行取用

#此文件从模板自动生成! 请勿更改!
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_VERSION 1)
cmake_minimum_required(VERSION 3.27)

# specify cross-compilers and tools
set(CMAKE_C_COMPILER arm-none-eabi-gcc)
set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
set(CMAKE_ASM_COMPILER  arm-none-eabi-gcc)
set(CMAKE_AR arm-none-eabi-ar)
set(CMAKE_OBJCOPY arm-none-eabi-objcopy)
set(CMAKE_OBJDUMP arm-none-eabi-objdump)
set(SIZE arm-none-eabi-size)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)

# project settings
project(microROSF407 C CXX ASM)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_C_STANDARD 11)

#Uncomment for hardware floating point
add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING)
add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)

#Uncomment for software floating point
#add_compile_options(-mfloat-abi=soft)

add_compile_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0)

# uncomment to mitigate c++17 absolute addresses warnings
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-register")

# Enable assembler files preprocessing
add_compile_options($<$<COMPILE_LANGUAGE:ASM>:-x$<SEMICOLON>assembler-with-cpp>)

if ("${CMAKE_BUILD_TYPE}" STREQUAL "Release")
    message(STATUS "Maximum optimization for speed")
    add_compile_options(-Ofast)
elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
    message(STATUS "Maximum optimization for speed, debug info included")
    add_compile_options(-Ofast -g)
elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
    message(STATUS "Maximum optimization for size")
    add_compile_options(-Os)
else ()
    message(STATUS "Minimal optimization, debug info included")
    add_compile_options(-Og -g)
endif ()

###############################
#Import microROS Library Start#
###############################

add_library( libmicroros STATIC IMPORTED )
set_target_properties( libmicroros PROPERTIES IMPORTED_LOCATION ${PROJECT_SOURCE_DIR}/micro_ros_stm32cubemx_utils/microros_static_library/libmicroros/libmicroros.a )
list(APPEND microROS_Source "${PROJECT_SOURCE_DIR}/micro_ros_stm32cubemx_utils/extra_sources/custom_memory_manager.c")
list(APPEND microROS_Source "${PROJECT_SOURCE_DIR}/micro_ros_stm32cubemx_utils/extra_sources/microros_time.c")
list(APPEND microROS_Source "${PROJECT_SOURCE_DIR}/micro_ros_stm32cubemx_utils/extra_sources/microros_allocators.c")

# Set here the custom transport implementation
list(APPEND microROS_Source "${PROJECT_SOURCE_DIR}/micro_ros_stm32cubemx_utils/extra_sources/microros_transports/dma_transport.c")
# list(APPEND microROS_Source "${PROJECT_SOURCE_DIR}/micro_ros_stm32cubemx_utils/extra_sources/microros_transports/it_transport.c")
# list(APPEND microROS_Source "${PROJECT_SOURCE_DIR}/micro_ros_stm32cubemx_utils/extra_sources/microros_transports/udp_transport.c")
# list(APPEND microROS_Source "${PROJECT_SOURCE_DIR}/micro_ros_stm32cubemx_utils/extra_sources/microros_transports/usb_cdc_transport.c")

include_directories(${PROJECT_SOURCE_DIR}/micro_ros_stm32cubemx_utils/microros_static_library/libmicroros/microros_include)
#############################
#Import microROS Library End#
#############################

include_directories(Core/Inc Drivers/STM32F4xx_HAL_Driver/Inc Drivers/STM32F4xx_HAL_Driver/Inc/Legacy Middlewares/Third_Party/FreeRTOS/Source/include Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F Drivers/CMSIS/Device/ST/STM32F4xx/Include Drivers/CMSIS/Include)

add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx)

file(GLOB_RECURSE SOURCES "Core/*.*" "Middlewares/*.*" "Drivers/*.*")

set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32F407VETX_FLASH.ld)

add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map)
add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
add_link_options(-T ${LINKER_SCRIPT})

add_executable(${PROJECT_NAME}.elf ${SOURCES} ${microROS_Source} ${LINKER_SCRIPT})
target_link_libraries(${PROJECT_NAME}.elf PUBLIC libmicroros)

set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)

add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD
        COMMAND ${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:${PROJECT_NAME}.elf> ${HEX_FILE}
        COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${PROJECT_NAME}.elf> ${BIN_FILE}
        COMMENT "Building ${HEX_FILE}
Building ${BIN_FILE}")

[472795832]

此回复已被删除！

[472795832]

@ganyuanzhen 大佬有没有foxy的版本啊 有么有上板子跑过

[ganyuanzhen]

@472795832 还没上板子测试，这几天考试没去实验室。

过几天可帮你测试一下

[小鱼]

@ganyuanzhen 欢迎出个教程，我给你发篇推广

[472795832]

@ganyuanzhen 跪求教程 我帮你验证