can't use the precompiled libraries with teensy 4.1

[aliby94]

Issue template

• Hardware and Software description: Ubuntu 20.04
  Ros2 Foxy (and on another setup with Humble as well)
  `rduino IDE 1.8.15
  Teensyduino 1.54

• Installation type: after installing Arduino IDE, and Teensyduino, I downloaded the teensy rules, and I patched the Platform.txt and edited those two lines as instructed:
  version=1.8.15
ARDUINO_PATH=[~/Downloads/arduino-1.8.15]

Steps to reproduce the issue

I was following the instructions in this link:
https://micro.ros.org/docs/tutorials/core/teensy_with_arduino/
but with one difference, Teensy 4.1 insead of Teensy 3.2

Expected behavior

code uploaded to teensy

Actual behavior

I receive the following error while compiling the code:

WARNING: library micro_ros_arduino claims to run on stm32, OpenCR, Teensyduino, samd, sam, mbed, esp32, mbed_portenta architecture(s) and may be incompatible with your current board which runs on avr architecture(s). Library micro_ros_arduino has been declared precompiled: Using precompiled library in /home/ali/Arduino/libraries/micro_ros_arduino/src/imxrt1062/fpv5-d16-hard The platform does not support 'compiler.libraries.ldflags' for precompiled libraries. /home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /tmp/arduino_build_172864/sketch/micro-ros_publisher.ino.cpp.o: in function timer_callback(rcl_timer_s*, long long)': /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:36: undefined reference to rcl_publish'
/home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /tmp/arduino_build_172864/sketch/micro-ros_publisher.ino.cpp.o: in function setup': /home/ali/Arduino/libraries/micro_ros_arduino/src/micro_ros_arduino.h:33: undefined reference to rmw_uros_set_custom_transport'
/home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /tmp/arduino_build_172864/sketch/micro-ros_publisher.ino.cpp.o: in function setup': /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:49: undefined reference to rcutils_get_default_allocator'
/home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:52: undefined reference to rclc_support_init' /home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:55: undefined reference to rclc_node_init_default'
/home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:58: undefined reference to rosidl_typesupport_c__get_message_type_support_handle__std_msgs__msg__Int32' /home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:58: undefined reference to rclc_publisher_init_default'
/home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:66: undefined reference to rclc_timer_init_default' /home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:73: undefined reference to rclc_executor_init'
/home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:74: undefined reference to rclc_executor_add_timer' /home/ali/.arduino15/packages/teensy/tools/teensy-compile/11.3.1/arm/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: /tmp/arduino_build_172864/sketch/micro-ros_publisher.ino.cpp.o: in function loop':
/home/ali/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher/micro-ros_publisher.ino:81: undefined reference to rclc_executor_spin_some' collect2: error: ld returned 1 exit status Error compiling for board Teensy 4.1.

sorry that the code looks like this, but it has a lot of apostrophes.

Additional information

my main goal is as follows:
The teensy reads several sensors and send the data to a Jetson orin that will publich them to ros2.
if there's a way to send the info as serial and create a node that will read it and then publish to ros2, or to publish ros2 directly from the teensy, please advise me on how to solve this.

[hippo5329]

You may switch to platformio and follow these wiki.

https://github.com/hippo5329/micro_ros_arduino_examples_platformio/wiki
https://github.com/hippo5329/linorobot2_hardware/wiki
https://github.com/hippo5329/micro-ROS-demos-platformio/wiki