Project Structure

All control logic code (my code) live in application directory. Core/Drivers/LWIP/Middlewares are generated config files for the micro controller via stm32cubemx.

Prerequisites

• docker
• ros2 in jazzy

ROS2 package dependencies

• micro-ros-agent in jazzy
• control_msgs

Either install the dependencies locally via the system's package manager, or build from source

Pull/Update submodules

git submodule update --init --recursive

Build micro_ros_stm32cubemx_utils static library

docker pull microros/micro_ros_static_library_builder:jazzy
docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=third_party/micro_ros_stm32cubemx_utils/microros_static_library microros/micro_ros_static_library_builder:jazzy

Or just the use the convenient script ./scripts/micro_ros_static_lib_gen.sh

stm32cubemx configuration

• assign a local IP address and a gateway address in stm32cubemx, which should be from the same subnet as micro-ROS agent, and regenerate the configuration files and recompile

host ethernet interface configuration

Configure the host Ethernet interface with the IP address specified in the Makefile for the micro-ROS agent, or use the convenient script ./scripts/configure_ethernet_if.sh for temporarily adding the IP for the ethernet interface

sudo ip a add 192.168.1.101/24 dev <eth interface>
sudo ip link set <eth interface> up

This IP address will be the micro-ROS agent IP address, which the client on the MCU uses for establishing the connection with the agent

patch file for ethernetif.c

LWIP/Target/ethernetif.c needs to be patched each time it is regenerated via CubeMX with the patch file ethernetif.c.patch, because the data cache, if enabled, needs to be flushed before every packet transmission in low_level_output().