Skip to content

Latest commit

 

History

History
69 lines (51 loc) · 4.72 KB

embeddedrtps.md

File metadata and controls

69 lines (51 loc) · 4.72 KB
Raw

How to configure micro-ROS with embeddedRTPS

This is a experimental approach for using micro-ROS with embeddedRTPS as middleware. This instructions are an approach to a STMCubeIDE v1.7.0 + FreeRTOS + LwIP configuration and has been tested with Nucleo F746ZG board against ROS 2 Galactic with Fast-DDS as default middleware.

IT IS HIGHLY RECOMMENDED TO HAVE THE BOARD AND THE ROS 2 COMPUTER IN AN ISOLATED ETHERNET NETWORK

  1. Create a a new STM32 project based on C++

  2. In the .ioc file enable:

    • Middleware -> FreeRTOS: with CMSIS_V2
    • Middleware -> LwIP
    • Connectivity -> ETH

  3. Make sure that your HAL timebase is not Systick (FreeRTOS requeriment) and USE_NEWLIB_REENTRANT is enabled (FreeRTOS -> Advanced settings).

  4. Make sure that FreeRTOS has the following configuration:

    • FreeRTOS -> Config parameters -> Memory management settings -> TOTAL_HEAP_SIZE -> 100000 Bytes
    • FreeRTOS -> Config parameters -> Kernel settings -> MAX_TASK_NAME_LEN -> 30
    • FreeRTOS -> Tasks and Queues -> defaultTask -> Stack Size -> 8000 Words
    • FreeRTOS -> Tasks and Queues -> defaultTask -> Priority -> Belownormal3

  5. Make sure that LwIP has the following configuration:

    • LwIP -> Key Options (Show advanced parameters) -> Multicast Options -> LWIP_MULTICAST_TX_OPTIONS -> Enabled
    • LwIP -> General Settings -> LWIP IGMP -> Enabled
    • LwIP -> General Settings -> LWIP_DHCP -> Disabled
    • LwIP -> General Settings -> IP Address Settings (Set here the board address and mask)
    • LwIP -> General Settings -> Procols Options -> MEMP_NUM_UDP_PCB -> 15
    • LwIP -> Key Options (Show advanced parameters) -> Infraestructure - Heap and Memory Pools Options -> MEM_SIZE -> 30000 Bytes
    • LwIP -> Key Options (Show advanced parameters) -> Infraestructure - Threading options -> TCPIP_THREAD_STACKSIZE -> 10000 Words
    • LwIP -> Key Options (Show advanced parameters) -> Infraestructure - Threading options -> TCPIP_THREAD_PRIO -> 20
    • LwIP -> Key Options (Show advanced parameters) -> Infraestructure - Pbuf Options -> PBUF_POOL_SIZE -> 20

  6. Save the file and generate the code.

  7. In file LWIP/Target/ethernetif.c add the following line in block USER CODE BEGIN MACADDRESS inside low_level_init() function: netif->flags |= NETIF_FLAG_IGMP;

  8. Make sure that macinit.MulticastFramesFilter is set to ETH_MULTICASTFRAMESFILTER_NONE. Usually this configuration is set in Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_eth.c:1878 and by default its value is ETH_MULTICASTFRAMESFILTER_PERFECT. Probably this is modified automatically every time code is generated.

  9. Clone this repository in your STM32CubeIDE project folder.

  10. Go to Project -> Settings -> C/C++ Build -> Settings -> Build Steps Tab and in Pre-build steps add:

docker pull microros/micro_ros_static_library_builder:galactic && docker run --rm -v ${workspace_loc:/${ProjName}}:/project --env MICROROS_USE_EMBEDDEDRTPS=ON --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library_ide microros/micro_ros_static_library_builder:galactic
  1. Add the following source code files to your project, dragging them to source folder:
  • extra_sources/microros_time.c
  • extra_sources/microros_allocators.c
  • extra_sources/custom_memory_manager.c
  1. Add micro-ROS include directory:
  • In Project -> Settings -> C/C++ Build -> Settings -> Tool Settings Tab -> MCU GCC Compiler -> Include paths add ../micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include
  • In Project -> Settings -> C/C++ Build -> Settings -> Tool Settings Tab -> MCU G++ Compiler -> Include paths add ../micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include
  1. Add the micro-ROS precompiled library. In Project -> Settings -> C/C++ Build -> Settings -> MCU GCC Linker -> Libraries
  • add ../micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros in Library search path (-L)
  • add microros in Libraries (-l)

  1. Use sample_main_embeddedrtps.c as reference for writing you application code.

  2. In Core/Inc/FreeRTOSConfig.h. Explanation here

// FROM THIS:
// #define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
// TO THIS:
#define configASSERT( x )