Skip to content

Fix rolling builds #323

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Amronos wants to merge 1 commit into
base: rolling
Choose a base branch
from
+37 −18
Open

Fix rolling builds #323

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 2 additions & 1 deletion examples/handle_static_types/main/main.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,10 @@ sensor_msgs__msg__Image msg_static;

uint8_t my_buffer[1000];

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t arg)
{
RCLC_UNUSED(last_call_time);
RCLC_UNUSED(arg);
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
RCSOFTCHECK(rcl_publish(&publisher, &msg_static, NULL));
Expand Down
3 changes: 2 additions & 1 deletion examples/int32_publisher/main/main.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,9 +24,10 @@
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t arg)
{
RCLC_UNUSED(last_call_time);
RCLC_UNUSED(arg);
if (timer != NULL) {
printf("Publishing: %d\n", (int) msg.data);
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
Expand Down
3 changes: 2 additions & 1 deletion examples/int32_publisher_custom_transport/main/main.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,9 +24,10 @@
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t arg)
{
RCLC_UNUSED(last_call_time);
RCLC_UNUSED(arg);
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
msg.data++;
Expand Down
5 changes: 3 additions & 2 deletions examples/int32_publisher_custom_transport_usbcdc/main/main.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,9 @@ rcl_publisher_t publisher; // Publisher
std_msgs__msg__Int32 msg; // Message to be published

// Timer callback. Publishes a message
void timer_callback(rcl_timer_t *timer, int64_t last_call_time) {
void timer_callback(rcl_timer_t *timer, int64_t last_call_time, uintptr_t arg) {
RCLC_UNUSED(last_call_time);
RCLC_UNUSED(arg);
if (timer != NULL) {
// Publish message to topic
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
Expand Down Expand Up @@ -163,4 +164,4 @@ void app_main(void) {
if (task_handle != NULL) {
ESP_LOGI(TAG_MAIN, "micro-ROS task created");
}
}
}
3 changes: 2 additions & 1 deletion examples/int32_publisher_embeddedrtps/main/main.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,10 @@
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t arg)
{
RCLC_UNUSED(last_call_time);
RCLC_UNUSED(arg);
if (timer != NULL) {
printf("Publishing: %d\n", (int) msg.data);
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
Expand Down
5 changes: 3 additions & 2 deletions examples/int32_sub_pub/main/main.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,9 +26,10 @@ rcl_subscription_t subscriber;
std_msgs__msg__Int32 send_msg;
std_msgs__msg__Int32 recv_msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t arg)
{
(void) last_call_time;
(void) arg;
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &send_msg, NULL));
printf("Sent: %d\n", (int) send_msg.data);
Expand Down Expand Up @@ -127,4 +128,4 @@ void app_main(void)
NULL,
CONFIG_MICRO_ROS_APP_TASK_PRIO,
NULL);
}
}
3 changes: 2 additions & 1 deletion examples/low_consumption/main/main.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,10 @@ std_msgs__msg__Int32 msg;
esp_pm_lock_handle_t pmlock;
#endif /* CONFIG_PM_ENABLE */

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t arg)
{
RCLC_UNUSED(last_call_time);
RCLC_UNUSED(arg);
if (timer != NULL) {
#ifdef CONFIG_PM_ENABLE
esp_pm_lock_acquire(pmlock); // disable wifi sleep mode
Expand Down
5 changes: 3 additions & 2 deletions examples/parameters/main/main.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,10 +23,11 @@

rclc_parameter_server_t param_server;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t arg)
{
(void) timer;
(void) last_call_time;
(void) arg;

int64_t value;
rclc_parameter_get_int(&param_server, "param2", &value);
Expand Down Expand Up @@ -142,4 +143,4 @@ void app_main(void)
NULL,
CONFIG_MICRO_ROS_APP_TASK_PRIO,
NULL);
}
}
3 changes: 2 additions & 1 deletion examples/ping_pong/main/main.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,9 +40,10 @@ int device_id;
int seq_no;
int pong_count;

void ping_timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void ping_timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t arg)
{
RCLC_UNUSED(last_call_time);
RCLC_UNUSED(arg);

if (timer != NULL) {

Expand Down
22 changes: 16 additions & 6 deletions libmicroros.mk
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,10 @@ $(EXTENSIONS_DIR)/micro_ros_dev/install:
touch src/ament_cmake_ros/rmw_test_fixture/COLCON_IGNORE; \
colcon build --cmake-args -DBUILD_TESTING=OFF -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=gcc;

# ros2/rclc needs to be pinned to an older version until
# ros2/rcl#1269 is added in micro-ROS/rcl as ros2/rclc#435 depends on it.
# ros2/rosidl needs to be pinned to an older version as ros2/rosidl#942 added rosidl_buffer as
# a dependency for various rosidl packages and we can't build it currently.
$(EXTENSIONS_DIR)/micro_ros_src/src:
rm -rf micro_ros_src; \
mkdir micro_ros_src; cd micro_ros_src; \
Expand All @@ -58,13 +62,16 @@ $(EXTENSIONS_DIR)/micro_ros_src/src:
git clone -b rolling https://github.com/micro-ROS/rmw_microxrcedds src/rmw_microxrcedds; \
fi; \
git clone -b ros2 https://github.com/eProsima/micro-CDR src/micro-CDR; \
git clone -b rolling https://github.com/micro-ROS/rcl src/rcl; \
git clone -b test/rolling https://github.com/micro-ROS/rcl src/rcl; \
git clone -b rolling https://github.com/ros2/rclc src/rclc; \
git clone -b rolling https://github.com/micro-ROS/rcutils src/rcutils; \
git clone -b rolling https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs; \
git clone -b rolling https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport; \
git clone -b rolling https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds; \
git clone -b rolling https://github.com/ros2/rosidl src/rosidl; \
cd src/rosidl; \
git reset --hard 5f4ace0288ecf942307ed62b9239ab5986884676; \
cd ../..; \
git clone -b rolling https://github.com/ros2/rosidl_dynamic_typesupport src/rosidl_dynamic_typesupport; \
git clone -b rolling https://github.com/ros2/rmw src/rmw; \
git clone -b rolling https://github.com/ros2/rcl_interfaces src/rcl_interfaces; \
Expand All @@ -78,13 +85,16 @@ $(EXTENSIONS_DIR)/micro_ros_src/src:
git clone -b rolling https://github.com/ros2/ros2_tracing src/ros2_tracing; \
git clone -b rolling https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities; \
git clone -b rolling https://github.com/ros2/rosidl_core src/rosidl_core; \
touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE; \
touch src/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE; \
touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE; \
touch src/rclc/rclc_examples/COLCON_IGNORE; \
touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE; \
touch src/ros2_tracing/test_tracetools/COLCON_IGNORE; \
touch src/rclc/rclc_examples/COLCON_IGNORE; \
touch src/rcl_logging/rcl_logging_implementation/COLCON_IGNORE; \
touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE; \
touch src/ros2_tracing/lttngpy/COLCON_IGNORE; \
touch src/ros2_tracing/test_tracetools/COLCON_IGNORE; \
touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE; \
touch src/rosidl/rosidl_buffer/COLCON_IGNORE; \
touch src/rosidl/rosidl_buffer_backend/COLCON_IGNORE; \
touch src/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE; \
cp -rf $(EXTRA_ROS_PACKAGES) src/extra_packages || :; \
test -f src/extra_packages/extra_packages.repos && cd src/extra_packages && vcs import --input extra_packages.repos || :;

Expand Down
Loading